2025-06-27T19:22:45.050Z,1751052165.050 [lineCaptureHoming:BA.Execute] Stopped
2025-06-27T19:22:45.050Z,1751052165.050 [lineCaptureHoming:InitialDive] Running Loop=1
2025-06-27T19:22:45.051Z,1751052165.051 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-06-27T19:22:45.051Z,1751052165.051 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-27T19:22:45.051Z,1751052165.051 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-06-27T19:22:45.051Z,1751052165.051 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-27T19:22:45.052Z,1751052165.052 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-06-27T19:22:45.052Z,1751052165.052 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-06-27T19:22:45.052Z,1751052165.052 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-06-27T19:22:45.120Z,1751052165.120 [CommandExec](IMPORTANT): got command restart logs
2025-06-27T19:22:45.469Z,1751052165.469 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-06-27T19:22:45.470Z,1751052165.470 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-06-27T19:22:46.279Z,1751052166.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,0 +4162.74,      -20.60,  58.29,  4.00
2025-06-27T19:23:04.825Z,1751052184.825 [NAL9602](INFO): SBD MO Status=2, MOMSN=48928, MT Status=2, MTMSN=0
2025-06-27T19:23:04.825Z,1751052184.825 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-27T19:23:12.203Z,1751052192.203 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2025-06-27T19:23:16.133Z,1751052196.133 [NAL9602](INFO): SBD MO Status=2, MOMSN=48928, MT Status=2, MTMSN=0
2025-06-27T19:23:16.134Z,1751052196.134 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-06-27T19:23:19.484Z,1751052199.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:23:19.564Z,1751052199.564 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:23:19.564Z,1751052199.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:23:19.815Z,1751052199.815 [DAT](INFO): DAT read: user:2516>

2025-06-27T19:23:19.816Z,1751052199.816 [DAT](INFO): DAT read: Tx time:19:23:18.6103

2025-06-27T19:23:19.816Z,1751052199.816 [DAT](INFO): Ping request sent.
2025-06-27T19:23:19.817Z,1751052199.817 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:23:19.817Z,1751052199.817 [DAT](INFO): publishing transmit ping time
2025-06-27T19:23:19.817Z,1751052199.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-06-27T19:23:20.070Z,1751052200.070 [DAT](INFO): DAT read: TxSync time:19:23:18.6095

2025-06-27T19:23:20.072Z,1751052200.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255261
2025-06-27T19:23:20.319Z,1751052200.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502690
2025-06-27T19:23:20.571Z,1751052200.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754780
2025-06-27T19:23:20.823Z,1751052200.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006720
2025-06-27T19:23:21.075Z,1751052201.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258685
2025-06-27T19:23:21.331Z,1751052201.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514124
2025-06-27T19:23:21.579Z,1751052201.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779
2025-06-27T19:23:21.831Z,1751052201.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014716
2025-06-27T19:23:22.083Z,1751052202.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843
2025-06-27T19:23:22.335Z,1751052202.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800
2025-06-27T19:23:22.587Z,1751052202.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770839
2025-06-27T19:23:22.839Z,1751052202.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022795
2025-06-27T19:23:23.091Z,1751052203.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274650
2025-06-27T19:23:23.343Z,1751052203.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526851
2025-06-27T19:23:23.595Z,1751052203.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778750
2025-06-27T19:23:23.847Z,1751052203.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030736
2025-06-27T19:23:24.100Z,1751052204.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282964
2025-06-27T19:23:24.351Z,1751052204.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534800
2025-06-27T19:23:24.603Z,1751052204.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786660
2025-06-27T19:23:24.855Z,1751052204.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038762
2025-06-27T19:23:25.107Z,1751052205.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290764
2025-06-27T19:23:25.359Z,1751052205.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542695
2025-06-27T19:23:25.612Z,1751052205.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795181
2025-06-27T19:23:25.863Z,1751052205.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046776
2025-06-27T19:23:26.115Z,1751052206.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298756
2025-06-27T19:23:26.367Z,1751052206.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550797
2025-06-27T19:23:26.619Z,1751052206.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802788
2025-06-27T19:23:26.878Z,1751052206.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061004
2025-06-27T19:23:27.127Z,1751052207.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310722
2025-06-27T19:23:27.379Z,1751052207.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562741
2025-06-27T19:23:27.631Z,1751052207.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814689
2025-06-27T19:23:27.884Z,1751052207.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067042
2025-06-27T19:23:28.135Z,1751052208.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318783
2025-06-27T19:23:28.387Z,1751052208.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570812
2025-06-27T19:23:28.639Z,1751052208.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822741
2025-06-27T19:23:28.891Z,1751052208.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074782
2025-06-27T19:23:29.143Z,1751052209.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326659
2025-06-27T19:23:29.395Z,1751052209.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578842
2025-06-27T19:23:29.648Z,1751052209.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831048
2025-06-27T19:23:29.899Z,1751052209.899 [DAT](INFO): Reached modem response timeout
2025-06-27T19:23:30.655Z,1751052210.655 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:23:30.656Z,1751052210.656 [DAT](INFO): response not received
2025-06-27T19:23:30.656Z,1751052210.656 [DAT](ERROR): No response from remote modem.
2025-06-27T19:23:40.315Z,1751052220.315 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.898174
2025-06-27T19:23:40.498Z,1751052220.498 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-27T19:23:40.499Z,1751052220.499 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-27T19:23:40.499Z,1751052220.499 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-27T19:23:40.499Z,1751052220.499 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:23:40.499Z,1751052220.499 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-27T19:23:41.320Z,1751052221.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:23:46.217Z,1751052226.217 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2025-06-27T19:24:11.439Z,1751052251.439 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:24:12.443Z,1751052252.443 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:24:13.642Z,1751052253.642 [Radio_Surface](INFO): Powering down
2025-06-27T19:24:16.847Z,1751052256.847 [NAL9602](INFO): Not Powering down - fast GPS
2025-06-27T19:24:19.697Z,1751052259.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:24:19.824Z,1751052259.824 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:24:19.825Z,1751052259.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:24:20.078Z,1751052260.078 [DAT](INFO): DAT read: user:2517>

2025-06-27T19:24:20.079Z,1751052260.079 [DAT](INFO): DAT read: Tx time:19:24:18.8607

2025-06-27T19:24:20.080Z,1751052260.080 [DAT](INFO): Ping request sent.
2025-06-27T19:24:20.080Z,1751052260.080 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:24:20.080Z,1751052260.080 [DAT](INFO): publishing transmit ping time
2025-06-27T19:24:20.081Z,1751052260.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-06-27T19:24:20.327Z,1751052260.327 [DAT](INFO): DAT read: TxSync time:19:24:18.8599

2025-06-27T19:24:20.328Z,1751052260.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248306
2025-06-27T19:24:20.579Z,1751052260.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499455
2025-06-27T19:24:20.831Z,1751052260.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751371
2025-06-27T19:24:21.084Z,1751052261.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003584
2025-06-27T19:24:21.335Z,1751052261.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255558
2025-06-27T19:24:21.587Z,1751052261.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507359
2025-06-27T19:24:21.839Z,1751052261.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759336
2025-06-27T19:24:22.093Z,1751052262.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012682
2025-06-27T19:24:22.343Z,1751052262.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263459
2025-06-27T19:24:22.595Z,1751052262.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515402
2025-06-27T19:24:22.847Z,1751052262.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767425
2025-06-27T19:24:23.099Z,1751052263.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019334
2025-06-27T19:24:23.351Z,1751052263.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271485
2025-06-27T19:24:23.603Z,1751052263.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523384
2025-06-27T19:24:23.855Z,1751052263.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775307
2025-06-27T19:24:24.108Z,1751052264.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027657
2025-06-27T19:24:24.360Z,1751052264.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279887
2025-06-27T19:24:24.611Z,1751052264.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531399
2025-06-27T19:24:24.863Z,1751052264.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783392
2025-06-27T19:24:25.115Z,1751052265.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035460
2025-06-27T19:24:25.368Z,1751052265.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287585
2025-06-27T19:24:25.619Z,1751052265.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539341
2025-06-27T19:24:25.872Z,1751052265.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791941
2025-06-27T19:24:26.127Z,1751052266.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047299
2025-06-27T19:24:26.379Z,1751052266.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299387
2025-06-27T19:24:26.631Z,1751052266.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551445
2025-06-27T19:24:26.883Z,1751052266.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803401
2025-06-27T19:24:27.135Z,1751052267.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055362
2025-06-27T19:24:27.387Z,1751052267.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307493
2025-06-27T19:24:27.639Z,1751052267.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559353
2025-06-27T19:24:27.891Z,1751052267.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811407
2025-06-27T19:24:28.147Z,1751052268.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067438
2025-06-27T19:24:28.399Z,1751052268.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319510
2025-06-27T19:24:28.651Z,1751052268.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571385
2025-06-27T19:24:28.903Z,1751052268.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823520
2025-06-27T19:24:29.155Z,1751052269.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075383
2025-06-27T19:24:29.407Z,1751052269.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327510
2025-06-27T19:24:29.659Z,1751052269.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579411
2025-06-27T19:24:29.911Z,1751052269.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831386
2025-06-27T19:24:30.167Z,1751052270.167 [DAT](INFO): Reached modem response timeout
2025-06-27T19:24:30.923Z,1751052270.923 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:24:30.924Z,1751052270.924 [DAT](INFO): response not received
2025-06-27T19:24:30.924Z,1751052270.924 [DAT](ERROR): No response from remote modem.
2025-06-27T19:24:42.567Z,1751052282.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:24:43.571Z,1751052283.571 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-06-27T19:24:43.571Z,1751052283.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:25:13.695Z,1751052313.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:25:14.699Z,1751052314.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:25:19.889Z,1751052319.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:25:20.107Z,1751052320.107 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:25:20.107Z,1751052320.107 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:25:20.359Z,1751052320.359 [DAT](INFO): DAT read: user:2518>

2025-06-27T19:25:20.360Z,1751052320.360 [DAT](INFO): DAT read: Tx time:19:25:19.1612

2025-06-27T19:25:20.360Z,1751052320.360 [DAT](INFO): Ping request sent.
2025-06-27T19:25:20.361Z,1751052320.361 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:25:20.361Z,1751052320.361 [DAT](INFO): publishing transmit ping time
2025-06-27T19:25:20.361Z,1751052320.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-06-27T19:25:20.611Z,1751052320.611 [DAT](INFO): DAT read: TxSync time:19:25:19.1604

2025-06-27T19:25:20.612Z,1751052320.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251622
2025-06-27T19:25:20.863Z,1751052320.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502715
2025-06-27T19:25:21.115Z,1751052321.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754791
2025-06-27T19:25:21.367Z,1751052321.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006670
2025-06-27T19:25:21.619Z,1751052321.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258639
2025-06-27T19:25:21.875Z,1751052321.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514712
2025-06-27T19:25:22.127Z,1751052322.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766735
2025-06-27T19:25:22.380Z,1751052322.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019173
2025-06-27T19:25:22.631Z,1751052322.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270733
2025-06-27T19:25:22.884Z,1751052322.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523393
2025-06-27T19:25:23.136Z,1751052323.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774967
2025-06-27T19:25:23.387Z,1751052323.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026757
2025-06-27T19:25:23.639Z,1751052323.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278689
2025-06-27T19:25:23.891Z,1751052323.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530761
2025-06-27T19:25:24.144Z,1751052324.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783571
2025-06-27T19:25:24.395Z,1751052324.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034751
2025-06-27T19:25:24.648Z,1751052324.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286971
2025-06-27T19:25:24.899Z,1751052324.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538756
2025-06-27T19:25:25.152Z,1751052325.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791348
2025-06-27T19:25:25.403Z,1751052325.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042692
2025-06-27T19:25:25.655Z,1751052325.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294757
2025-06-27T19:25:25.907Z,1751052325.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546627
2025-06-27T19:25:26.159Z,1751052326.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798725
2025-06-27T19:25:26.412Z,1751052326.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051268
2025-06-27T19:25:26.663Z,1751052326.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302681
2025-06-27T19:25:26.915Z,1751052326.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554723
2025-06-27T19:25:27.167Z,1751052327.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806862
2025-06-27T19:25:27.419Z,1751052327.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058700
2025-06-27T19:25:27.672Z,1751052327.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310961
2025-06-27T19:25:27.924Z,1751052327.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563668
2025-06-27T19:25:28.175Z,1751052328.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814683
2025-06-27T19:25:28.427Z,1751052328.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066707
2025-06-27T19:25:28.679Z,1751052328.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318751
2025-06-27T19:25:28.932Z,1751052328.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570992
2025-06-27T19:25:29.183Z,1751052329.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822628
2025-06-27T19:25:29.435Z,1751052329.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074686
2025-06-27T19:25:29.687Z,1751052329.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326664
2025-06-27T19:25:29.940Z,1751052329.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579276
2025-06-27T19:25:30.192Z,1751052330.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831364
2025-06-27T19:25:30.443Z,1751052330.443 [DAT](INFO): Reached modem response timeout
2025-06-27T19:25:31.207Z,1751052331.207 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:25:31.207Z,1751052331.207 [DAT](INFO): response not received
2025-06-27T19:25:31.207Z,1751052331.207 [DAT](ERROR): No response from remote modem.
2025-06-27T19:25:44.820Z,1751052344.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:25:45.823Z,1751052345.823 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:25:51.409Z,1751052351.409 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +151.92,     +2616.33,       +65.11,  BI,  659,   +0,A
2025-06-27T19:26:15.943Z,1751052375.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:26:16.947Z,1751052376.947 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:26:20.082Z,1751052380.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:20.132Z,1751052380.132 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:26:20.132Z,1751052380.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:26:20.383Z,1751052380.383 [DAT](INFO): DAT read: user:2519>

2025-06-27T19:26:20.385Z,1751052380.385 [DAT](INFO): DAT read: Tx time:19:26:19.1617

2025-06-27T19:26:20.386Z,1751052380.386 [DAT](INFO): Ping request sent.
2025-06-27T19:26:20.387Z,1751052380.387 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:26:20.387Z,1751052380.387 [DAT](INFO): publishing transmit ping time
2025-06-27T19:26:20.389Z,1751052380.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002849
2025-06-27T19:26:20.639Z,1751052380.639 [DAT](INFO): DAT read: TxSync time:19:26:19.1609

2025-06-27T19:26:20.641Z,1751052380.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254706
2025-06-27T19:26:20.887Z,1751052380.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501279
2025-06-27T19:26:21.140Z,1751052381.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753772
2025-06-27T19:26:21.391Z,1751052381.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005145
2025-06-27T19:26:21.647Z,1751052381.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260063
2025-06-27T19:26:21.895Z,1751052381.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509123
2025-06-27T19:26:22.147Z,1751052382.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761260
2025-06-27T19:26:22.399Z,1751052382.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013176
2025-06-27T19:26:22.651Z,1751052382.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265106
2025-06-27T19:26:22.903Z,1751052382.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517216
2025-06-27T19:26:23.155Z,1751052383.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769214
2025-06-27T19:26:23.407Z,1751052383.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021158
2025-06-27T19:26:23.660Z,1751052383.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273382
2025-06-27T19:26:23.913Z,1751052383.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526374
2025-06-27T19:26:24.163Z,1751052384.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777220
2025-06-27T19:26:24.415Z,1751052384.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029242
2025-06-27T19:26:24.667Z,1751052384.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281191
2025-06-27T19:26:24.919Z,1751052384.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533291
2025-06-27T19:26:25.171Z,1751052385.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785086
2025-06-27T19:26:25.424Z,1751052385.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037338
2025-06-27T19:26:25.678Z,1751052385.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291400
2025-06-27T19:26:25.927Z,1751052385.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541176
2025-06-27T19:26:26.179Z,1751052386.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793280
2025-06-27T19:26:26.431Z,1751052386.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045130
2025-06-27T19:26:26.684Z,1751052386.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297552
2025-06-27T19:26:26.935Z,1751052386.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549187
2025-06-27T19:26:27.187Z,1751052387.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801184
2025-06-27T19:26:27.440Z,1751052387.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053782
2025-06-27T19:26:27.691Z,1751052387.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305133
2025-06-27T19:26:27.943Z,1751052387.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557213
2025-06-27T19:26:28.195Z,1751052388.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809227
2025-06-27T19:26:28.447Z,1751052388.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061225
2025-06-27T19:26:28.699Z,1751052388.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313077
2025-06-27T19:26:28.951Z,1751052388.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565135
2025-06-27T19:26:29.203Z,1751052389.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817196
2025-06-27T19:26:29.455Z,1751052389.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069277
2025-06-27T19:26:29.708Z,1751052389.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321388
2025-06-27T19:26:29.959Z,1751052389.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573157
2025-06-27T19:26:30.211Z,1751052390.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825101
2025-06-27T19:26:30.463Z,1751052390.463 [DAT](INFO): Reached modem response timeout
2025-06-27T19:26:31.219Z,1751052391.219 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:26:31.220Z,1751052391.220 [DAT](INFO): response not received
2025-06-27T19:26:31.220Z,1751052391.220 [DAT](ERROR): No response from remote modem.
2025-06-27T19:26:37.990Z,1751052397.990 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-06-27T19:26:37.995Z,1751052397.995 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-06-27T19:26:37.995Z,1751052397.995 [lineCaptureHoming:InitialDive] Stopped
2025-06-27T19:26:37.995Z,1751052397.995 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-06-27T19:26:37.995Z,1751052397.995 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-06-27T19:26:37.996Z,1751052397.996 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:RepeatHack] Stopped
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:RepeatHack:A] Stopped
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:Lap] Running Loop=1
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-06-27T19:26:38.356Z,1751052398.356 [lineCaptureHoming:Lap:A] Running Loop=1
2025-06-27T19:26:38.752Z,1751052398.752 [lineCaptureHoming:Lap:A] Stopped
2025-06-27T19:26:38.752Z,1751052398.752 [lineCaptureHoming:Lap:B] Running Loop=1
2025-06-27T19:26:38.752Z,1751052398.752 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-06-27T19:26:39.168Z,1751052399.168 [lineCaptureHoming:LineCapture] Running Loop=1
2025-06-27T19:26:39.168Z,1751052399.168 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-06-27T19:26:39.168Z,1751052399.168 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-27T19:26:39.168Z,1751052399.168 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-27T19:26:39.168Z,1751052399.168 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-27T19:26:39.169Z,1751052399.169 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-27T19:26:39.170Z,1751052399.170 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-06-27T19:26:39.170Z,1751052399.170 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-27T19:26:39.170Z,1751052399.170 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-27T19:26:39.170Z,1751052399.170 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-27T19:26:39.170Z,1751052399.170 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-27T19:26:39.174Z,1751052399.174 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-06-27T19:26:39.175Z,1751052399.175 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-06-27T19:26:39.175Z,1751052399.175 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-06-27T19:26:39.175Z,1751052399.175 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-06-27T19:26:39.175Z,1751052399.175 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-06-27T19:26:39.175Z,1751052399.175 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-06-27T19:26:39.176Z,1751052399.176 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-06-27T19:26:39.176Z,1751052399.176 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-06-27T19:26:39.176Z,1751052399.176 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-06-27T19:26:39.176Z,1751052399.176 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-27T19:26:39.177Z,1751052399.177 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-27T19:26:39.177Z,1751052399.177 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-27T19:26:39.177Z,1751052399.177 [lineCaptureHoming:LineCapture:A] Stopped
2025-06-27T19:26:39.178Z,1751052399.178 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-06-27T19:26:39.549Z,1751052399.549 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-27T19:26:39.549Z,1751052399.549 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:26:39.549Z,1751052399.549 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-27T19:26:39.552Z,1751052399.552 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 36.299999 m (mode  0.000000 count ).
2025-06-27T19:26:39.552Z,1751052399.552 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-27T19:26:39.552Z,1751052399.552 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-27T19:26:39.555Z,1751052399.555 [lineCaptureHoming:LineCapture:B] Stopped
2025-06-27T19:26:39.555Z,1751052399.555 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-06-27T19:26:40.085Z,1751052400.085 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-27T19:26:40.085Z,1751052400.085 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-27T19:26:40.085Z,1751052400.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:40.104Z,1751052400.104 [lineCaptureHoming:LineCapture:D] Stopped
2025-06-27T19:26:40.104Z,1751052400.104 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-06-27T19:26:40.307Z,1751052400.307 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:26:40.307Z,1751052400.307 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:26:40.372Z,1751052400.372 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-27T19:26:40.372Z,1751052400.372 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-27T19:26:40.379Z,1751052400.379 [lineCaptureHoming:LineCapture:E] Stopped
2025-06-27T19:26:40.379Z,1751052400.379 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-06-27T19:26:40.559Z,1751052400.559 [DAT](INFO): DAT read: user:2520>

2025-06-27T19:26:40.560Z,1751052400.560 [DAT](INFO): DAT read: Tx time:19:26:39.3618

2025-06-27T19:26:40.560Z,1751052400.560 [DAT](INFO): Ping request sent.
2025-06-27T19:26:40.560Z,1751052400.560 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:26:40.561Z,1751052400.561 [DAT](INFO): publishing transmit ping time
2025-06-27T19:26:40.561Z,1751052400.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-27T19:26:40.782Z,1751052400.782 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-27T19:26:40.782Z,1751052400.782 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:26:40.782Z,1751052400.782 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-27T19:26:40.782Z,1751052400.782 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:F] Stopped
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-06-27T19:26:40.785Z,1751052400.785 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-27T19:26:40.786Z,1751052400.786 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-06-27T19:26:40.786Z,1751052400.786 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-27T19:26:40.786Z,1751052400.786 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-27T19:26:40.786Z,1751052400.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-27T19:26:40.786Z,1751052400.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-27T19:26:40.787Z,1751052400.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-27T19:26:40.788Z,1751052400.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-27T19:26:40.789Z,1751052400.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-27T19:26:40.812Z,1751052400.812 [DAT](INFO): DAT read: TxSync time:19:26:39.3610

2025-06-27T19:26:40.813Z,1751052400.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252567
2025-06-27T19:26:41.064Z,1751052401.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503016
2025-06-27T19:26:41.188Z,1751052401.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-27T19:26:41.188Z,1751052401.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-27T19:26:41.188Z,1751052401.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-27T19:26:41.189Z,1751052401.189 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-27T19:26:41.190Z,1751052401.190 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-06-27T19:26:41.210Z,1751052401.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-06-27T19:26:41.210Z,1751052401.210 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-06-27T19:26:41.211Z,1751052401.211 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.586853 m.
2025-06-27T19:26:41.283Z,1751052401.283 [DockingStepper](INFO): Resume
2025-06-27T19:26:41.316Z,1751052401.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754992
2025-06-27T19:26:41.567Z,1751052401.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873
2025-06-27T19:26:41.583Z,1751052401.583 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-06-27T19:26:41.632Z,1751052401.632 [DockingStepper](INFO): Resuming
2025-06-27T19:26:41.819Z,1751052401.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258781
2025-06-27T19:26:42.071Z,1751052402.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510824
2025-06-27T19:26:42.095Z,1751052402.095 [DockingStepper](INFO): Start
2025-06-27T19:26:42.095Z,1751052402.095 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-27T19:26:42.215Z,1751052402.215 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-27T19:26:42.323Z,1751052402.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762785
2025-06-27T19:26:42.393Z,1751052402.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:42.575Z,1751052402.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014837
2025-06-27T19:26:42.591Z,1751052402.591 [DockingStepper](INFO): Starting
2025-06-27T19:26:42.827Z,1751052402.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833
2025-06-27T19:26:42.863Z,1751052402.863 [DockingStepper](INFO): Starting
2025-06-27T19:26:43.080Z,1751052403.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519112
2025-06-27T19:26:43.295Z,1751052403.295 [DockingStepper](INFO): Starting
2025-06-27T19:26:43.332Z,1751052403.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771423
2025-06-27T19:26:43.347Z,1751052403.347 [DockingStepper](INFO): Init string: /1z7568aE13561N3m50
2025-06-27T19:26:43.583Z,1751052403.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022932
2025-06-27T19:26:43.667Z,1751052403.667 [DockingStepper](INFO): Starting
2025-06-27T19:26:43.836Z,1751052403.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275943
2025-06-27T19:26:44.087Z,1751052404.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526867
2025-06-27T19:26:44.255Z,1751052404.255 [DockingStepper](INFO): Starting
2025-06-27T19:26:44.339Z,1751052404.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778828
2025-06-27T19:26:44.426Z,1751052404.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:44.591Z,1751052404.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030771
2025-06-27T19:26:44.595Z,1751052404.595 [DockingStepper](INFO): Starting
2025-06-27T19:26:44.840Z,1751052404.840 [DockingStepper](INFO): Starting
2025-06-27T19:26:44.848Z,1751052404.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286339
2025-06-27T19:26:44.867Z,1751052404.867 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:�/0@
2025-06-27T19:26:45.095Z,1751052405.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534818
2025-06-27T19:26:45.295Z,1751052405.295 [DockingStepper](INFO): Starting
2025-06-27T19:26:45.347Z,1751052405.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786756
2025-06-27T19:26:45.599Z,1751052405.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038901
2025-06-27T19:26:45.664Z,1751052405.664 [DockingStepper](INFO): Changing to mode: 3
2025-06-27T19:26:45.664Z,1751052405.664 [DockingStepper](INFO): Detach mode.
2025-06-27T19:26:45.851Z,1751052405.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290848
2025-06-27T19:26:46.105Z,1751052406.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544018
2025-06-27T19:26:46.356Z,1751052406.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795023
2025-06-27T19:26:46.435Z,1751052406.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:46.607Z,1751052406.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046807
2025-06-27T19:26:46.864Z,1751052406.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303028
2025-06-27T19:26:47.070Z,1751052407.070 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:26:47.115Z,1751052407.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554717
2025-06-27T19:26:47.367Z,1751052407.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806817
2025-06-27T19:26:47.619Z,1751052407.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058836
2025-06-27T19:26:47.872Z,1751052407.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311286
2025-06-27T19:26:48.072Z,1751052408.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:26:48.124Z,1751052408.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563575
2025-06-27T19:26:48.375Z,1751052408.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814632
2025-06-27T19:26:48.558Z,1751052408.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:48.630Z,1751052408.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069512
2025-06-27T19:26:48.883Z,1751052408.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322888
2025-06-27T19:26:49.135Z,1751052409.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574783
2025-06-27T19:26:49.387Z,1751052409.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826818
2025-06-27T19:26:49.639Z,1751052409.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078932
2025-06-27T19:26:49.891Z,1751052409.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330791
2025-06-27T19:26:50.147Z,1751052410.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585260
2025-06-27T19:26:50.395Z,1751052410.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834836
2025-06-27T19:26:50.647Z,1751052410.647 [DAT](INFO): Reached modem response timeout
2025-06-27T19:26:50.647Z,1751052410.647 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:26:50.647Z,1751052410.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:26:50.856Z,1751052410.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:50.899Z,1751052410.899 [DAT](INFO): Reached modem response timeout
2025-06-27T19:26:50.900Z,1751052410.900 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:26:50.900Z,1751052410.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:26:51.151Z,1751052411.151 [DAT](INFO): Reached modem response timeout
2025-06-27T19:26:51.151Z,1751052411.151 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:26:51.152Z,1751052411.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:26:51.404Z,1751052411.404 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:26:51.404Z,1751052411.404 [DAT](INFO): response not received
2025-06-27T19:26:51.405Z,1751052411.405 [DAT](INFO): DAT read: user:2521>

2025-06-27T19:26:51.406Z,1751052411.406 [DAT](INFO): DAT read: Tx time:19:26:50.3119

2025-06-27T19:26:51.407Z,1751052411.407 [DAT](INFO): Ping request sent.
2025-06-27T19:26:51.407Z,1751052411.407 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:26:51.407Z,1751052411.407 [DAT](INFO): publishing transmit ping time
2025-06-27T19:26:51.408Z,1751052411.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001063
2025-06-27T19:26:51.656Z,1751052411.656 [DAT](INFO): DAT read: TxSync time:19:26:50.3111

2025-06-27T19:26:51.656Z,1751052411.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249678
2025-06-27T19:26:51.907Z,1751052411.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500741
2025-06-27T19:26:52.162Z,1751052412.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754945
2025-06-27T19:26:52.412Z,1751052412.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004918
2025-06-27T19:26:52.663Z,1751052412.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256723
2025-06-27T19:26:52.883Z,1751052412.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:52.924Z,1751052412.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517102
2025-06-27T19:26:53.174Z,1751052413.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766822
2025-06-27T19:26:53.423Z,1751052413.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016652
2025-06-27T19:26:53.675Z,1751052413.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268679
2025-06-27T19:26:53.927Z,1751052413.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520645
2025-06-27T19:26:54.184Z,1751052414.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776899
2025-06-27T19:26:54.431Z,1751052414.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024629
2025-06-27T19:26:54.687Z,1751052414.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280666
2025-06-27T19:26:54.914Z,1751052414.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:54.940Z,1751052414.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533128
2025-06-27T19:26:55.194Z,1751052415.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787037
2025-06-27T19:26:55.443Z,1751052415.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036609
2025-06-27T19:26:55.695Z,1751052415.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288575
2025-06-27T19:26:55.947Z,1751052415.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540634
2025-06-27T19:26:56.203Z,1751052416.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795552
2025-06-27T19:26:56.451Z,1751052416.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.044692
2025-06-27T19:26:56.703Z,1751052416.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296641
2025-06-27T19:26:56.955Z,1751052416.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548645
2025-06-27T19:26:57.210Z,1751052417.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802800
2025-06-27T19:26:57.342Z,1751052417.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:57.459Z,1751052417.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052596
2025-06-27T19:26:57.712Z,1751052417.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305159
2025-06-27T19:26:57.963Z,1751052417.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556695
2025-06-27T19:26:58.218Z,1751052418.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810482
2025-06-27T19:26:58.468Z,1751052418.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060939
2025-06-27T19:26:58.719Z,1751052418.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312729
2025-06-27T19:26:58.980Z,1751052418.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.573494
2025-06-27T19:26:59.234Z,1751052419.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826831
2025-06-27T19:26:59.361Z,1751052419.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:26:59.483Z,1751052419.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.076667
2025-06-27T19:26:59.735Z,1751052419.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.328710
2025-06-27T19:26:59.988Z,1751052419.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.581269
2025-06-27T19:27:00.243Z,1751052420.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835286
2025-06-27T19:27:00.491Z,1751052420.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.084651
2025-06-27T19:27:00.743Z,1751052420.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.336650
2025-06-27T19:27:00.996Z,1751052420.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.589477
2025-06-27T19:27:01.250Z,1751052421.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842326
2025-06-27T19:27:01.394Z,1751052421.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:01.499Z,1751052421.499 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:01.499Z,1751052421.499 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:01.500Z,1751052421.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:01.751Z,1751052421.751 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:01.751Z,1751052421.751 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:01.751Z,1751052421.751 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:01.769Z,1751052421.769 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 36.30 m. Transitioning docking module to standby.
2025-06-27T19:27:02.003Z,1751052422.003 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:02.004Z,1751052422.004 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:02.004Z,1751052422.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:02.233Z,1751052422.233 [DockingStepper](INFO): Changing to mode: 1
2025-06-27T19:27:02.233Z,1751052422.233 [DockingStepper](INFO): Standby mode.
2025-06-27T19:27:02.256Z,1751052422.256 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:27:02.256Z,1751052422.256 [DAT](INFO): response not received
2025-06-27T19:27:02.257Z,1751052422.257 [DAT](INFO): DAT read: user:2522>

2025-06-27T19:27:02.258Z,1751052422.258 [DAT](ERROR): No response from remote modem.
2025-06-27T19:27:02.258Z,1751052422.258 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:02.258Z,1751052422.258 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:02.291Z,1751052422.291 [DockingStepper](INFO): Commanding positive:54586
2025-06-27T19:27:02.507Z,1751052422.507 [DAT](INFO): DAT read: Tx time:19:27:01.2620

2025-06-27T19:27:02.508Z,1751052422.508 [DAT](INFO): Ping request sent.
2025-06-27T19:27:02.508Z,1751052422.508 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:02.509Z,1751052422.509 [DAT](INFO): DAT read: TxSync time:19:27:01.2612

2025-06-27T19:27:02.509Z,1751052422.509 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:02.510Z,1751052422.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001581
2025-06-27T19:27:02.759Z,1751052422.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251215
2025-06-27T19:27:03.012Z,1751052423.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504002
2025-06-27T19:27:03.266Z,1751052423.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757832
2025-06-27T19:27:03.411Z,1751052423.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:03.515Z,1751052423.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007274
2025-06-27T19:27:03.767Z,1751052423.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259302
2025-06-27T19:27:04.020Z,1751052424.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512033
2025-06-27T19:27:04.274Z,1751052424.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765365
2025-06-27T19:27:04.524Z,1751052424.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015559
2025-06-27T19:27:04.775Z,1751052424.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267433
2025-06-27T19:27:05.027Z,1751052425.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519460
2025-06-27T19:27:05.279Z,1751052425.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771435
2025-06-27T19:27:05.412Z,1751052425.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:05.531Z,1751052425.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023515
2025-06-27T19:27:05.783Z,1751052425.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275440
2025-06-27T19:27:06.036Z,1751052426.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527611
2025-06-27T19:27:06.287Z,1751052426.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779503
2025-06-27T19:27:06.539Z,1751052426.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031320
2025-06-27T19:27:06.791Z,1751052426.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283361
2025-06-27T19:27:07.043Z,1751052427.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535442
2025-06-27T19:27:07.295Z,1751052427.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787326
2025-06-27T19:27:07.465Z,1751052427.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:07.548Z,1751052427.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039747
2025-06-27T19:27:07.799Z,1751052427.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291397
2025-06-27T19:27:08.051Z,1751052428.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543299
2025-06-27T19:27:08.246Z,1751052428.246 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-06-27T19:27:08.303Z,1751052428.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795466
2025-06-27T19:27:08.555Z,1751052428.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047404
2025-06-27T19:27:08.660Z,1751052428.660 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-06-27T19:27:08.660Z,1751052428.660 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-06-27T19:27:08.660Z,1751052428.660 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-06-27T19:27:08.807Z,1751052428.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299345
2025-06-27T19:27:09.042Z,1751052429.042 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-06-27T19:27:09.042Z,1751052429.042 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-06-27T19:27:09.042Z,1751052429.042 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-06-27T19:27:09.073Z,1751052429.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.564549
2025-06-27T19:27:09.083Z,1751052429.083 [DockingStepper](INFO): Pause
2025-06-27T19:27:09.323Z,1751052429.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815348
2025-06-27T19:27:09.465Z,1751052429.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-06-27T19:27:09.465Z,1751052429.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-27T19:27:09.465Z,1751052429.465 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-06-27T19:27:09.466Z,1751052429.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-06-27T19:27:09.466Z,1751052429.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-27T19:27:09.575Z,1751052429.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067266
2025-06-27T19:27:09.827Z,1751052429.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319319
2025-06-27T19:27:09.842Z,1751052429.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:09.843Z,1751052429.843 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-27T19:27:09.843Z,1751052429.843 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-27T19:27:09.843Z,1751052429.843 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-06-27T19:27:09.843Z,1751052429.843 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-06-27T19:27:09.844Z,1751052429.844 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-06-27T19:27:09.845Z,1751052429.845 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-06-27T19:27:09.846Z,1751052429.846 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-06-27T19:27:09.846Z,1751052429.846 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-06-27T19:27:09.862Z,1751052429.862 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-06-27T19:27:09.862Z,1751052429.862 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-06-27T19:27:09.863Z,1751052429.863 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-06-27T19:27:10.079Z,1751052430.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571400
2025-06-27T19:27:10.252Z,1751052430.252 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-06-27T19:27:10.331Z,1751052430.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823449
2025-06-27T19:27:10.584Z,1751052430.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075630
2025-06-27T19:27:10.835Z,1751052430.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327358
2025-06-27T19:27:11.087Z,1751052431.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579446
2025-06-27T19:27:11.339Z,1751052431.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.831349
2025-06-27T19:27:11.591Z,1751052431.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083417
2025-06-27T19:27:11.843Z,1751052431.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335417
2025-06-27T19:27:11.864Z,1751052431.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:12.096Z,1751052432.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588071
2025-06-27T19:27:12.347Z,1751052432.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839376
2025-06-27T19:27:12.599Z,1751052432.599 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:12.599Z,1751052432.599 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:12.599Z,1751052432.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:12.851Z,1751052432.851 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:12.851Z,1751052432.851 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:12.852Z,1751052432.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:13.103Z,1751052433.103 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:13.103Z,1751052433.103 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:13.104Z,1751052433.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:13.355Z,1751052433.355 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:27:13.356Z,1751052433.356 [DAT](INFO): response not received
2025-06-27T19:27:13.356Z,1751052433.356 [DAT](INFO): DAT read: user:2523>

2025-06-27T19:27:13.357Z,1751052433.357 [DAT](INFO): DAT read: Tx time:19:27:12.2121

2025-06-27T19:27:13.357Z,1751052433.357 [DAT](INFO): Ping request sent.
2025-06-27T19:27:13.357Z,1751052433.357 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:13.357Z,1751052433.357 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:13.358Z,1751052433.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-06-27T19:27:13.609Z,1751052433.609 [DAT](INFO): DAT read: TxSync time:19:27:12.2113

2025-06-27T19:27:13.610Z,1751052433.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252397
2025-06-27T19:27:13.859Z,1751052433.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502008
2025-06-27T19:27:13.880Z,1751052433.880 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:14.111Z,1751052434.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754010
2025-06-27T19:27:14.363Z,1751052434.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006171
2025-06-27T19:27:14.615Z,1751052434.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258066
2025-06-27T19:27:14.867Z,1751052434.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509990
2025-06-27T19:27:15.120Z,1751052435.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762318
2025-06-27T19:27:15.372Z,1751052435.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014236
2025-06-27T19:27:15.623Z,1751052435.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265967
2025-06-27T19:27:15.875Z,1751052435.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518178
2025-06-27T19:27:15.900Z,1751052435.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:16.127Z,1751052436.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770091
2025-06-27T19:27:16.380Z,1751052436.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022607
2025-06-27T19:27:16.631Z,1751052436.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274074
2025-06-27T19:27:16.887Z,1751052436.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529295
2025-06-27T19:27:17.135Z,1751052437.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778068
2025-06-27T19:27:17.390Z,1751052437.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032419
2025-06-27T19:27:17.641Z,1751052437.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283476
2025-06-27T19:27:17.891Z,1751052437.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534015
2025-06-27T19:27:17.924Z,1751052437.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:18.143Z,1751052438.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786102
2025-06-27T19:27:18.193Z,1751052438.193 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:27:18.395Z,1751052438.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038230
2025-06-27T19:27:18.647Z,1751052438.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290060
2025-06-27T19:27:18.899Z,1751052438.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542170
2025-06-27T19:27:19.152Z,1751052439.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794262
2025-06-27T19:27:19.195Z,1751052439.195 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:27:19.406Z,1751052439.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048576
2025-06-27T19:27:19.660Z,1751052439.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302489
2025-06-27T19:27:19.911Z,1751052439.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554188
2025-06-27T19:27:19.946Z,1751052439.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:20.164Z,1751052440.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806717
2025-06-27T19:27:20.415Z,1751052440.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058106
2025-06-27T19:27:20.667Z,1751052440.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310141
2025-06-27T19:27:20.920Z,1751052440.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562458
2025-06-27T19:27:21.171Z,1751052441.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814156
2025-06-27T19:27:21.424Z,1751052441.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066582
2025-06-27T19:27:21.675Z,1751052441.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318152
2025-06-27T19:27:21.927Z,1751052441.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570010
2025-06-27T19:27:21.989Z,1751052441.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:22.179Z,1751052442.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822101
2025-06-27T19:27:22.432Z,1751052442.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074490
2025-06-27T19:27:22.684Z,1751052442.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326315
2025-06-27T19:27:22.935Z,1751052442.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578092
2025-06-27T19:27:23.187Z,1751052443.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830148
2025-06-27T19:27:23.439Z,1751052443.439 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:23.439Z,1751052443.439 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:23.439Z,1751052443.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:23.707Z,1751052443.707 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:23.707Z,1751052443.707 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:23.708Z,1751052443.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:23.959Z,1751052443.959 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:23.959Z,1751052443.959 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:23.959Z,1751052443.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:24.015Z,1751052444.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:24.212Z,1751052444.212 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:27:24.212Z,1751052444.212 [DAT](INFO): response not received
2025-06-27T19:27:24.212Z,1751052444.212 [DAT](INFO): DAT read: user:2524>

2025-06-27T19:27:24.213Z,1751052444.213 [DAT](INFO): DAT read: Tx time:19:27:23.1621

2025-06-27T19:27:24.213Z,1751052444.213 [DAT](INFO): Ping request sent.
2025-06-27T19:27:24.213Z,1751052444.213 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:24.214Z,1751052444.214 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:24.215Z,1751052444.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000708
2025-06-27T19:27:24.464Z,1751052444.464 [DAT](INFO): DAT read: TxSync time:19:27:23.1613

2025-06-27T19:27:24.464Z,1751052444.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866
2025-06-27T19:27:24.715Z,1751052444.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501805
2025-06-27T19:27:24.967Z,1751052444.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753829
2025-06-27T19:27:25.220Z,1751052445.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006624
2025-06-27T19:27:25.471Z,1751052445.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257805
2025-06-27T19:27:25.723Z,1751052445.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509962
2025-06-27T19:27:25.975Z,1751052445.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761917
2025-06-27T19:27:26.073Z,1751052446.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:26.227Z,1751052446.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013839
2025-06-27T19:27:26.479Z,1751052446.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265925
2025-06-27T19:27:26.731Z,1751052446.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517911
2025-06-27T19:27:26.983Z,1751052446.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769810
2025-06-27T19:27:27.235Z,1751052447.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021956
2025-06-27T19:27:27.487Z,1751052447.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273875
2025-06-27T19:27:27.739Z,1751052447.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525902
2025-06-27T19:27:27.992Z,1751052447.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778605
2025-06-27T19:27:28.074Z,1751052448.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:28.243Z,1751052448.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029875
2025-06-27T19:27:28.496Z,1751052448.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282073
2025-06-27T19:27:28.747Z,1751052448.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533821
2025-06-27T19:27:29.000Z,1751052449.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786286
2025-06-27T19:27:29.251Z,1751052449.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037922
2025-06-27T19:27:29.503Z,1751052449.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289853
2025-06-27T19:27:29.757Z,1751052449.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543122
2025-06-27T19:27:30.008Z,1751052450.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794153
2025-06-27T19:27:30.089Z,1751052450.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:30.260Z,1751052450.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046086
2025-06-27T19:27:30.512Z,1751052450.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298267
2025-06-27T19:27:30.763Z,1751052450.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549787
2025-06-27T19:27:31.016Z,1751052451.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802467
2025-06-27T19:27:31.267Z,1751052451.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054005
2025-06-27T19:27:31.519Z,1751052451.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305843
2025-06-27T19:27:31.771Z,1751052451.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557973
2025-06-27T19:27:32.024Z,1751052452.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810292
2025-06-27T19:27:32.109Z,1751052452.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:32.275Z,1751052452.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061852
2025-06-27T19:27:32.528Z,1751052452.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314198
2025-06-27T19:27:32.783Z,1751052452.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569105
2025-06-27T19:27:33.031Z,1751052453.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817840
2025-06-27T19:27:33.283Z,1751052453.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069968
2025-06-27T19:27:33.535Z,1751052453.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321867
2025-06-27T19:27:33.788Z,1751052453.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574253
2025-06-27T19:27:34.039Z,1751052454.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825808
2025-06-27T19:27:34.126Z,1751052454.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:34.291Z,1751052454.291 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:34.291Z,1751052454.291 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:34.291Z,1751052454.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:34.543Z,1751052454.543 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:34.543Z,1751052454.543 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:34.543Z,1751052454.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:34.797Z,1751052454.797 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:34.798Z,1751052454.798 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:34.799Z,1751052454.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:35.053Z,1751052455.053 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:35.053Z,1751052455.053 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:35.054Z,1751052455.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:35.312Z,1751052455.312 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:27:35.312Z,1751052455.312 [DAT](INFO): response not received
2025-06-27T19:27:35.312Z,1751052455.312 [DAT](INFO): DAT read: user:2525>

2025-06-27T19:27:35.313Z,1751052455.313 [DAT](INFO): DAT read: Tx time:19:27:34.1122

2025-06-27T19:27:35.313Z,1751052455.313 [DAT](INFO): Ping request sent.
2025-06-27T19:27:35.314Z,1751052455.314 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:35.314Z,1751052455.314 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:35.314Z,1751052455.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000853
2025-06-27T19:27:35.563Z,1751052455.563 [DAT](INFO): DAT read: TxSync time:19:27:34.1114

2025-06-27T19:27:35.564Z,1751052455.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250603
2025-06-27T19:27:35.816Z,1751052455.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502024
2025-06-27T19:27:36.068Z,1751052456.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754274
2025-06-27T19:27:36.151Z,1751052456.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:36.320Z,1751052456.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059
2025-06-27T19:27:36.572Z,1751052456.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257941
2025-06-27T19:27:36.826Z,1751052456.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511674
2025-06-27T19:27:37.075Z,1751052457.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761737
2025-06-27T19:27:37.328Z,1751052457.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013936
2025-06-27T19:27:37.579Z,1751052457.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265689
2025-06-27T19:27:37.834Z,1751052457.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519664
2025-06-27T19:27:38.083Z,1751052458.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769807
2025-06-27T19:27:38.166Z,1751052458.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:38.338Z,1751052458.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024029
2025-06-27T19:27:38.588Z,1751052458.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274152
2025-06-27T19:27:38.842Z,1751052458.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527630
2025-06-27T19:27:39.091Z,1751052459.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777742
2025-06-27T19:27:39.343Z,1751052459.343 [DAT](INFO): DAT read: Rx Time:19:27:37.6307

2025-06-27T19:27:39.344Z,1751052459.344 [DAT](INFO): Rx dataTimestamp_ set to:1751052459.343506
2025-06-27T19:27:39.344Z,1751052459.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030752
2025-06-27T19:27:39.595Z,1751052459.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281787
2025-06-27T19:27:39.883Z,1751052459.883 [DAT](INFO): DAT read: 19:27:37.6307 LVL= 12784, 16193, 13714, 17059, AGC= 78, IDX=  63, 0.08, 2.970, 2.281, 0.580, 1.611, PHS= 1.447, 0.717,-1.034, RAW=  46.6, -10.2, CAL=  52.7, -17.3, ROT=  97.3,  17.3

2025-06-27T19:27:39.895Z,1751052459.895 [DAT](INFO): got valid direction response:
 19:27:37.6307 LVL= 12784, 16193, 13714, 17059, AGC= 78, IDX=  63, 0.08, 2.970, 2.281, 0.580, 1.611, PHS= 1.447, 0.717,-1.034, RAW=  46.6, -10.2, CAL=  52.7, -17.3, ROT=  97.3,  17.3

2025-06-27T19:27:39.896Z,1751052459.896 [DAT](INFO): DAT read: Bearing  97.3,  17.3 (Local)

2025-06-27T19:27:39.896Z,1751052459.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.3,  17.3 (Local)

2025-06-27T19:27:39.897Z,1751052459.897 [DAT](INFO): DAT read: Range 10 to 50 : 835.7 m  (Round-trip  1114.3 ms) speed  0.0 m/s

2025-06-27T19:27:39.906Z,1751052459.906 [DAT](INFO): DAT read: user:2526>

2025-06-27T19:27:39.907Z,1751052459.907 [DAT](INFO): DAT read: Tx time:19:27:38.7123

2025-06-27T19:27:39.907Z,1751052459.907 [DAT](INFO): Ping request sent.
2025-06-27T19:27:39.908Z,1751052459.908 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:39.908Z,1751052459.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:27:39.909Z,1751052459.909 [DAT](INFO): direction in FSK: [-0.121316,0.947022,-0.297375]
2025-06-27T19:27:39.909Z,1751052459.909 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:39.909Z,1751052459.909 [DAT](INFO): publishing direction and range info
2025-06-27T19:27:39.921Z,1751052459.921 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:39.921Z,1751052459.921 [DAT](INFO): publishing direction and range info
2025-06-27T19:27:40.099Z,1751052460.099 [DAT](INFO): DAT read: TxSync time:19:27:38.7115

2025-06-27T19:27:40.573Z,1751052460.573 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-06-27T19:27:40.573Z,1751052460.573 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-27T19:27:40.575Z,1751052460.575 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-06-27T19:27:40.587Z,1751052460.587 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 835.700012 m (mode  0.000000 count ).
2025-06-27T19:27:40.587Z,1751052460.587 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-06-27T19:27:40.587Z,1751052460.587 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-06-27T19:27:40.591Z,1751052460.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:27:40.619Z,1751052460.619 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:40.620Z,1751052460.620 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:40.620Z,1751052460.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:40.874Z,1751052460.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965530
2025-06-27T19:27:40.993Z,1751052460.993 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-06-27T19:27:40.994Z,1751052460.994 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-06-27T19:27:41.124Z,1751052461.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216670
2025-06-27T19:27:41.373Z,1751052461.373 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-06-27T19:27:41.373Z,1751052461.373 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-06-27T19:27:41.375Z,1751052461.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467781
2025-06-27T19:27:41.627Z,1751052461.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719720
2025-06-27T19:27:41.785Z,1751052461.785 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-06-27T19:27:41.785Z,1751052461.785 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-27T19:27:41.785Z,1751052461.785 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-06-27T19:27:41.785Z,1751052461.785 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-06-27T19:27:41.882Z,1751052461.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974251
2025-06-27T19:27:42.131Z,1751052462.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223635
2025-06-27T19:27:42.384Z,1751052462.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475898
2025-06-27T19:27:42.636Z,1751052462.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728388
2025-06-27T19:27:42.890Z,1751052462.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981614
2025-06-27T19:27:43.139Z,1751052463.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231788
2025-06-27T19:27:43.391Z,1751052463.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483847
2025-06-27T19:27:43.643Z,1751052463.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735664
2025-06-27T19:27:43.898Z,1751052463.898 [DAT](INFO): DAT read: Rx Time:19:27:42.2310

2025-06-27T19:27:43.900Z,1751052463.900 [DAT](INFO): Rx dataTimestamp_ set to:1751052463.898955
2025-06-27T19:27:43.902Z,1751052463.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.993383
2025-06-27T19:27:44.147Z,1751052464.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239689
2025-06-27T19:27:44.405Z,1751052464.405 [DAT](INFO): DAT read: 19:27:42.2310 LVL= 21744, 32753, 32754, 32755, AGC= 80, IDX= 451,-0.48,-1.026,-1.573,-2.864,-1.858, PHS= 0.920, 0.333,-1.009, RAW=  47.3,  -2.9, CAL=  49.1,  -6.4, ROT= 100.9,   6.4

2025-06-27T19:27:44.410Z,1751052464.410 [DAT](INFO): got valid direction response:
 19:27:42.2310 LVL= 21744, 32753, 32754, 32755, AGC= 80, IDX= 451,-0.48,-1.026,-1.573,-2.864,-1.858, PHS= 0.920, 0.333,-1.009, RAW=  47.3,  -2.9, CAL=  49.1,  -6.4, ROT= 100.9,   6.4

2025-06-27T19:27:44.418Z,1751052464.418 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:27:44.419Z,1751052464.419 [DAT](INFO): Received a bad header
2025-06-27T19:27:44.431Z,1751052464.431 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:27:44.432Z,1751052464.432 [DAT](INFO): direction in FSK: [-0.187917,0.975839,-0.111469]
2025-06-27T19:27:44.436Z,1751052464.436 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:44.436Z,1751052464.436 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:44.436Z,1751052464.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:44.652Z,1751052464.652 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:44.652Z,1751052464.652 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:44.652Z,1751052464.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:44.905Z,1751052464.905 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:44.905Z,1751052464.905 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:44.905Z,1751052464.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:45.155Z,1751052465.155 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:45.155Z,1751052465.155 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:45.155Z,1751052465.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:45.408Z,1751052465.408 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:45.408Z,1751052465.408 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:45.408Z,1751052465.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:45.659Z,1751052465.659 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:45.659Z,1751052465.659 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:45.659Z,1751052465.659 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:45.913Z,1751052465.913 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:45.913Z,1751052465.913 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:45.914Z,1751052465.914 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:46.163Z,1751052466.163 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:46.163Z,1751052466.163 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:46.163Z,1751052466.163 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:46.415Z,1751052466.415 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:46.415Z,1751052466.415 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:46.415Z,1751052466.415 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:46.667Z,1751052466.667 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:46.667Z,1751052466.667 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:46.667Z,1751052466.667 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:46.921Z,1751052466.921 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:46.921Z,1751052466.921 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:46.921Z,1751052466.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:47.171Z,1751052467.171 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:47.171Z,1751052467.171 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:47.171Z,1751052467.171 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:47.423Z,1751052467.423 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:47.423Z,1751052467.423 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:47.423Z,1751052467.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:47.675Z,1751052467.675 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:47.675Z,1751052467.675 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:47.675Z,1751052467.675 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:47.929Z,1751052467.929 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:47.930Z,1751052467.930 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:47.930Z,1751052467.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:48.180Z,1751052468.180 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:48.180Z,1751052468.180 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:48.180Z,1751052468.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:48.431Z,1751052468.431 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:48.431Z,1751052468.431 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:48.431Z,1751052468.431 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:48.683Z,1751052468.683 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:48.683Z,1751052468.683 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:48.683Z,1751052468.683 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:48.937Z,1751052468.937 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:48.937Z,1751052468.937 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:48.937Z,1751052468.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:49.187Z,1751052469.187 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:49.187Z,1751052469.187 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:49.187Z,1751052469.187 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:49.319Z,1751052469.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:27:49.439Z,1751052469.439 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:49.439Z,1751052469.439 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:49.439Z,1751052469.439 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:49.691Z,1751052469.691 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:27:49.691Z,1751052469.691 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:27:49.691Z,1751052469.691 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:27:49.943Z,1751052469.943 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:49.943Z,1751052469.943 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:49.943Z,1751052469.943 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:50.195Z,1751052470.195 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:50.195Z,1751052470.195 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:50.195Z,1751052470.195 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:50.323Z,1751052470.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:27:50.447Z,1751052470.447 [DAT](INFO): Reached modem response timeout
2025-06-27T19:27:50.447Z,1751052470.447 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:27:50.447Z,1751052470.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:27:50.700Z,1751052470.700 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:27:50.700Z,1751052470.700 [DAT](INFO): response not received
2025-06-27T19:27:50.700Z,1751052470.700 [DAT](INFO): DAT read: user:2528>

2025-06-27T19:27:50.701Z,1751052470.701 [DAT](INFO): DAT read: Tx time:19:27:49.6624

2025-06-27T19:27:50.701Z,1751052470.701 [DAT](INFO): Ping request sent.
2025-06-27T19:27:50.701Z,1751052470.701 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:27:50.702Z,1751052470.702 [DAT](INFO): publishing transmit ping time
2025-06-27T19:27:50.703Z,1751052470.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001417
2025-06-27T19:27:50.952Z,1751052470.952 [DAT](INFO): DAT read: TxSync time:19:27:49.6616

2025-06-27T19:27:50.952Z,1751052470.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879
2025-06-27T19:27:51.204Z,1751052471.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502116
2025-06-27T19:27:51.455Z,1751052471.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753959
2025-06-27T19:27:51.707Z,1751052471.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005919
2025-06-27T19:27:51.959Z,1751052471.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257876
2025-06-27T19:27:52.211Z,1751052472.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509901
2025-06-27T19:27:52.286Z,1751052472.286 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +151.92,     +2616.34,     ,141.08
2025-06-27T19:27:52.463Z,1751052472.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761989
2025-06-27T19:27:52.715Z,1751052472.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014058
2025-06-27T19:27:52.968Z,1751052472.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266758
2025-06-27T19:27:53.219Z,1751052473.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517959
2025-06-27T19:27:53.471Z,1751052473.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769845
2025-06-27T19:27:53.723Z,1751052473.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021847
2025-06-27T19:27:53.976Z,1751052473.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273908
2025-06-27T19:27:54.227Z,1751052474.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525857
2025-06-27T19:27:54.480Z,1751052474.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778286
2025-06-27T19:27:54.731Z,1751052474.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030069
2025-06-27T19:27:54.984Z,1751052474.984 [DAT](INFO): DAT read: Rx Time:19:27:53.1776

2025-06-27T19:27:54.984Z,1751052474.984 [DAT](INFO): Rx dataTimestamp_ set to:1751052474.983697
2025-06-27T19:27:54.985Z,1751052474.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283112
2025-06-27T19:27:55.237Z,1751052475.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535230
2025-06-27T19:27:55.493Z,1751052475.493 [DAT](INFO): DAT read: 19:27:53.1776 LVL= 18656, 32753, 25122, 32755, AGC= 80, IDX= 430, 0.09, 1.509,-0.135, 0.366, 0.745, PHS= 0.852,-0.833,-0.381, RAW= 105.0,   4.8, CAL= 115.6,   2.6, ROT=  34.4,  -2.6

2025-06-27T19:27:55.499Z,1751052475.499 [DAT](INFO): got valid direction response:
 19:27:53.1776 LVL= 18656, 32753, 25122, 32755, AGC= 80, IDX= 430, 0.09, 1.509,-0.135, 0.366, 0.745, PHS= 0.852,-0.833,-0.381, RAW= 105.0,   4.8, CAL= 115.6,   2.6, ROT=  34.4,  -2.6

2025-06-27T19:27:55.499Z,1751052475.499 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:27:55.500Z,1751052475.500 [DAT](INFO): Received a bad header
2025-06-27T19:27:55.511Z,1751052475.511 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:27:55.512Z,1751052475.512 [DAT](INFO): direction in FSK: [0.824264,0.564385,0.045363]
2025-06-27T19:28:00.779Z,1751052480.779 [DAT](INFO): Reached modem response timeout
2025-06-27T19:28:01.791Z,1751052481.791 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:28:01.792Z,1751052481.792 [DAT](INFO): response not received
2025-06-27T19:28:01.792Z,1751052481.792 [DAT](INFO): DAT read: user:2530>

2025-06-27T19:28:01.793Z,1751052481.793 [DAT](INFO): DAT read: Tx time:19:28:00.6125

2025-06-27T19:28:01.793Z,1751052481.793 [DAT](INFO): Ping request sent.
2025-06-27T19:28:01.793Z,1751052481.793 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:01.793Z,1751052481.793 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:02.044Z,1751052482.044 [DAT](INFO): DAT read: TxSync time:19:28:00.6117

2025-06-27T19:28:05.824Z,1751052485.824 [DAT](INFO): DAT read: Rx Time:19:28:04.1266

2025-06-27T19:28:05.824Z,1751052485.824 [DAT](INFO): Rx dataTimestamp_ set to:1751052485.823701
2025-06-27T19:28:06.338Z,1751052486.338 [DAT](INFO): DAT read: 19:28:04.1266 LVL= 19344, 18673, 13458, 24883, AGC= 82, IDX= 451, 0.17,-1.705,-3.014,-1.642,-2.293, PHS= 0.676,-0.674, 0.648, RAW= 149.0,  -9.8, CAL= 155.4, -17.9, ROT= 354.6,  17.9

2025-06-27T19:28:06.339Z,1751052486.339 [DAT](INFO): got valid direction response:
 19:28:04.1266 LVL= 19344, 18673, 13458, 24883, AGC= 82, IDX= 451, 0.17,-1.705,-3.014,-1.642,-2.293, PHS= 0.676,-0.674, 0.648, RAW= 149.0,  -9.8, CAL= 155.4, -17.9, ROT= 354.6,  17.9

2025-06-27T19:28:06.340Z,1751052486.340 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:28:06.340Z,1751052486.340 [DAT](INFO): Received a bad header
2025-06-27T19:28:06.350Z,1751052486.350 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-27T19:28:06.351Z,1751052486.351 [DAT](INFO): direction in FSK: [0.947371,-0.089553,-0.307357]
2025-06-27T19:28:06.833Z,1751052486.833 [CTD_Seabird](ERROR): Failed to parse device response: 49.51,9.234684
2025-06-27T19:28:12.635Z,1751052492.635 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:28:12.636Z,1751052492.636 [DAT](INFO): response not received
2025-06-27T19:28:12.636Z,1751052492.636 [DAT](INFO): DAT read: user:2532>

2025-06-27T19:28:12.637Z,1751052492.637 [DAT](INFO): DAT read: Tx time:19:28:11.5625

2025-06-27T19:28:12.637Z,1751052492.637 [DAT](INFO): Ping request sent.
2025-06-27T19:28:12.637Z,1751052492.637 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:12.637Z,1751052492.637 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:12.888Z,1751052492.888 [DAT](INFO): DAT read: TxSync time:19:28:11.5617

2025-06-27T19:28:16.565Z,1751052496.565 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711292414,35.0, +10.4,   0.0,1491

2025-06-27T19:28:16.669Z,1751052496.669 [DAT](INFO): DAT read: Rx Time:19:28:15.0631

2025-06-27T19:28:16.669Z,1751052496.669 [DAT](INFO): Rx dataTimestamp_ set to:1751052496.668891
2025-06-27T19:28:17.449Z,1751052497.449 [DAT](INFO): DAT read: 19:28:15.0631 LVL= 26544, 29409, 18642, 32755, AGC= 81, IDX= 310,-0.05, 0.230,-0.553, 1.343, 0.542, PHS=-0.224,-1.048, 0.798, RAW= 183.5,   6.0, CAL= 183.4,  -3.0, ROT= 326.6,   3.0

2025-06-27T19:28:17.450Z,1751052497.450 [DAT](INFO): got valid direction response:
 19:28:15.0631 LVL= 26544, 29409, 18642, 32755, AGC= 81, IDX= 310,-0.05, 0.230,-0.553, 1.343, 0.542, PHS=-0.224,-1.048, 0.798, RAW= 183.5,   6.0, CAL= 183.4,  -3.0, ROT= 326.6,   3.0

2025-06-27T19:28:17.451Z,1751052497.451 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:28:17.451Z,1751052497.451 [DAT](INFO): Received a bad header
2025-06-27T19:28:17.464Z,1751052497.464 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-06-27T19:28:17.465Z,1751052497.465 [DAT](INFO): direction in FSK: [0.833704,-0.549726,-0.052336]
2025-06-27T19:28:20.443Z,1751052500.443 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:28:21.448Z,1751052501.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:28:23.727Z,1751052503.727 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:28:23.728Z,1751052503.728 [DAT](INFO): response not received
2025-06-27T19:28:23.728Z,1751052503.728 [DAT](INFO): DAT read: user:2534>

2025-06-27T19:28:23.729Z,1751052503.729 [DAT](INFO): DAT read: Tx time:19:28:22.5125

2025-06-27T19:28:23.729Z,1751052503.729 [DAT](INFO): Ping request sent.
2025-06-27T19:28:23.729Z,1751052503.729 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:23.729Z,1751052503.729 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:23.980Z,1751052503.980 [DAT](INFO): DAT read: TxSync time:19:28:22.5118

2025-06-27T19:28:27.759Z,1751052507.759 [DAT](INFO): DAT read: Rx Time:19:28:25.9984

2025-06-27T19:28:27.760Z,1751052507.760 [DAT](INFO): Rx dataTimestamp_ set to:1751052507.759548
2025-06-27T19:28:28.269Z,1751052508.269 [DAT](INFO): DAT read: 19:28:25.9984 LVL= 29568, 27505, 25074, 32755, AGC= 88, IDX= 305,-0.18, 0.683,-0.159, 1.731, 0.754, PHS= 0.017,-0.866, 0.974, RAW= 181.3,  -1.6, CAL= 181.9,  -9.0, ROT= 328.1,   9.0

2025-06-27T19:28:28.271Z,1751052508.271 [DAT](INFO): got valid direction response:
 19:28:25.9984 LVL= 29568, 27505, 25074, 32755, AGC= 88, IDX= 305,-0.18, 0.683,-0.159, 1.731, 0.754, PHS= 0.017,-0.866, 0.974, RAW= 181.3,  -1.6, CAL= 181.9,  -9.0, ROT= 328.1,   9.0

2025-06-27T19:28:28.271Z,1751052508.271 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:28:28.272Z,1751052508.272 [DAT](INFO): Received a bad header
2025-06-27T19:28:28.283Z,1751052508.283 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-06-27T19:28:28.284Z,1751052508.284 [DAT](INFO): direction in FSK: [0.838519,-0.521932,-0.156434]
2025-06-27T19:28:34.563Z,1751052514.563 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:28:34.564Z,1751052514.564 [DAT](INFO): response not received
2025-06-27T19:28:34.564Z,1751052514.564 [DAT](INFO): DAT read: user:2536>

2025-06-27T19:28:34.565Z,1751052514.565 [DAT](INFO): DAT read: Tx time:19:28:33.4626

2025-06-27T19:28:34.565Z,1751052514.565 [DAT](INFO): Ping request sent.
2025-06-27T19:28:34.565Z,1751052514.565 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:34.565Z,1751052514.565 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:34.816Z,1751052514.816 [DAT](INFO): DAT read: TxSync time:19:28:33.4619

2025-06-27T19:28:38.599Z,1751052518.599 [DAT](INFO): DAT read: Rx Time:19:28:36.9374

2025-06-27T19:28:38.600Z,1751052518.600 [DAT](INFO): Rx dataTimestamp_ set to:1751052518.599652
2025-06-27T19:28:39.109Z,1751052519.109 [DAT](INFO): DAT read: 19:28:36.9374 LVL= 32752, 31473, 21282, 32755, AGC= 85, IDX= 351,-0.22,-0.147,-1.281, 0.245,-0.440, PHS= 0.381,-0.794, 0.682, RAW= 161.1,  -4.0, CAL= 164.3, -11.9, ROT= 345.7,  11.9

2025-06-27T19:28:39.111Z,1751052519.111 [DAT](INFO): got valid direction response:
 19:28:36.9374 LVL= 32752, 31473, 21282, 32755, AGC= 85, IDX= 351,-0.22,-0.147,-1.281, 0.245,-0.440, PHS= 0.381,-0.794, 0.682, RAW= 161.1,  -4.0, CAL= 164.3, -11.9, ROT= 345.7,  11.9

2025-06-27T19:28:39.111Z,1751052519.111 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:28:39.112Z,1751052519.112 [DAT](INFO): Received a bad header
2025-06-27T19:28:39.123Z,1751052519.123 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-06-27T19:28:39.124Z,1751052519.124 [DAT](INFO): direction in FSK: [0.948191,-0.241690,-0.206204]
2025-06-27T19:28:40.833Z,1751052520.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:28:40.867Z,1751052520.867 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:28:40.867Z,1751052520.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:28:41.119Z,1751052521.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554025
2025-06-27T19:28:41.372Z,1751052521.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806360
2025-06-27T19:28:41.623Z,1751052521.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058091
2025-06-27T19:28:41.875Z,1751052521.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310214
2025-06-27T19:28:42.127Z,1751052522.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562175
2025-06-27T19:28:42.379Z,1751052522.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814068
2025-06-27T19:28:42.631Z,1751052522.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066062
2025-06-27T19:28:42.883Z,1751052522.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318203
2025-06-27T19:28:43.135Z,1751052523.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570086
2025-06-27T19:28:43.387Z,1751052523.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822064
2025-06-27T19:28:43.639Z,1751052523.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074124
2025-06-27T19:28:43.891Z,1751052523.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326086
2025-06-27T19:28:44.143Z,1751052524.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577918
2025-06-27T19:28:44.395Z,1751052524.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829984
2025-06-27T19:28:44.647Z,1751052524.647 [DAT](INFO): Reached modem response timeout
2025-06-27T19:28:44.647Z,1751052524.647 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:28:44.647Z,1751052524.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:28:44.899Z,1751052524.899 [DAT](INFO): Reached modem response timeout
2025-06-27T19:28:44.899Z,1751052524.899 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:28:44.900Z,1751052524.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:28:45.151Z,1751052525.151 [DAT](INFO): Reached modem response timeout
2025-06-27T19:28:45.151Z,1751052525.151 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:28:45.151Z,1751052525.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:28:45.403Z,1751052525.403 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:28:45.404Z,1751052525.404 [DAT](INFO): response not received
2025-06-27T19:28:45.404Z,1751052525.404 [DAT](INFO): DAT read: user:2538>

2025-06-27T19:28:45.404Z,1751052525.404 [DAT](ERROR): No response from remote modem.
2025-06-27T19:28:45.405Z,1751052525.405 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:28:45.405Z,1751052525.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:28:45.655Z,1751052525.655 [DAT](INFO): DAT read: Tx time:19:28:44.4127

2025-06-27T19:28:45.656Z,1751052525.656 [DAT](INFO): Ping request sent.
2025-06-27T19:28:45.656Z,1751052525.656 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:45.656Z,1751052525.656 [DAT](INFO): DAT read: TxSync time:19:28:44.4120

2025-06-27T19:28:45.657Z,1751052525.657 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:45.657Z,1751052525.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587
2025-06-27T19:28:45.908Z,1751052525.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252535
2025-06-27T19:28:46.159Z,1751052526.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503562
2025-06-27T19:28:46.411Z,1751052526.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755419
2025-06-27T19:28:46.663Z,1751052526.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007433
2025-06-27T19:28:46.915Z,1751052526.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259604
2025-06-27T19:28:47.167Z,1751052527.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511433
2025-06-27T19:28:47.420Z,1751052527.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764609
2025-06-27T19:28:47.672Z,1751052527.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015812
2025-06-27T19:28:47.923Z,1751052527.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267437
2025-06-27T19:28:48.178Z,1751052528.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521656
2025-06-27T19:28:48.427Z,1751052528.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771514
2025-06-27T19:28:48.679Z,1751052528.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023494
2025-06-27T19:28:48.940Z,1751052528.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283754
2025-06-27T19:28:49.191Z,1751052529.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535458
2025-06-27T19:28:49.445Z,1751052529.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788946
2025-06-27T19:28:49.696Z,1751052529.696 [DAT](INFO): DAT read: Rx Time:19:28:47.8804

2025-06-27T19:28:49.696Z,1751052529.696 [DAT](INFO): Rx dataTimestamp_ set to:1751052529.695778
2025-06-27T19:28:49.697Z,1751052529.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040747
2025-06-27T19:28:49.947Z,1751052529.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291500
2025-06-27T19:28:50.206Z,1751052530.206 [DAT](INFO): DAT read: 19:28:47.8804 LVL= 24816, 32753, 21458, 32755, AGC= 81, IDX= 391, 0.16, 1.228,-0.233, 1.108, 0.587, PHS= 0.728,-0.773, 0.518, RAW= 142.6,  -6.8, CAL= 148.6, -16.0, ROT=   1.4,  16.0

2025-06-27T19:28:50.207Z,1751052530.207 [DAT](INFO): got valid direction response:
 19:28:47.8804 LVL= 24816, 32753, 21458, 32755, AGC= 81, IDX= 391, 0.16, 1.228,-0.233, 1.108, 0.587, PHS= 0.728,-0.773, 0.518, RAW= 142.6,  -6.8, CAL= 148.6, -16.0, ROT=   1.4,  16.0

2025-06-27T19:28:50.208Z,1751052530.208 [DAT](INFO): DAT read: Bearing   1.4,  16.0 (Local)

2025-06-27T19:28:50.209Z,1751052530.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  16.0 (Local)

2025-06-27T19:28:50.211Z,1751052530.211 [DAT](INFO): DAT read: Range 10 to 50 : 797.6 m  (Round-trip  1063.5 ms) speed  0.5 m/s

2025-06-27T19:28:50.211Z,1751052530.211 [DAT](INFO): DAT read: user:2539>

2025-06-27T19:28:50.212Z,1751052530.212 [DAT](INFO): DAT read: Tx time:19:28:48.9627

2025-06-27T19:28:50.213Z,1751052530.213 [DAT](INFO): Ping request sent.
2025-06-27T19:28:50.213Z,1751052530.213 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:28:50.213Z,1751052530.213 [DAT](INFO): DAT read: TxSync time:19:28:48.9620

2025-06-27T19:28:50.214Z,1751052530.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:28:50.215Z,1751052530.215 [DAT](INFO): direction in FSK: [0.960975,0.023486,-0.275637]
2025-06-27T19:28:50.215Z,1751052530.215 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:50.215Z,1751052530.215 [DAT](INFO): publishing direction and range info
2025-06-27T19:28:50.225Z,1751052530.225 [DAT](INFO): publishing transmit ping time
2025-06-27T19:28:50.225Z,1751052530.225 [DAT](INFO): publishing direction and range info
2025-06-27T19:28:51.567Z,1751052531.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:28:52.571Z,1751052532.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:28:54.241Z,1751052534.241 [DAT](INFO): DAT read: 19:28:52.4258 LVL= 21584, 32753, 23922, 32755, AGC= 81, IDX= 434, 0.49, 0.579,-0.945, 0.654,-0.043, PHS= 0.710,-0.855, 0.694, RAW= 149.5,  -7.1, CAL= 155.0, -15.4, ROT= 355.0,  15.4

2025-06-27T19:28:54.243Z,1751052534.243 [DAT](INFO): got valid direction response:
 19:28:52.4258 LVL= 21584, 32753, 23922, 32755, AGC= 81, IDX= 434, 0.49, 0.579,-0.945, 0.654,-0.043, PHS= 0.710,-0.855, 0.694, RAW= 149.5,  -7.1, CAL= 155.0, -15.4, ROT= 355.0,  15.4

2025-06-27T19:28:54.244Z,1751052534.244 [DAT](INFO): DAT read: Rx Time:19:28:52.4258

2025-06-27T19:28:54.244Z,1751052534.244 [DAT](INFO): Rx dataTimestamp_ set to:1751052534.243858
2025-06-27T19:28:54.245Z,1751052534.245 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-27T19:28:54.245Z,1751052534.245 [DAT](INFO): Received low SNR in chirp
2025-06-27T19:28:54.259Z,1751052534.259 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-06-27T19:28:54.260Z,1751052534.260 [DAT](INFO): direction in FSK: [0.960427,-0.084026,-0.265556]
2025-06-27T19:29:01.067Z,1751052541.067 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:29:01.068Z,1751052541.068 [DAT](INFO): response not received
2025-06-27T19:29:01.069Z,1751052541.069 [DAT](INFO): DAT read: user:2541>

2025-06-27T19:29:01.070Z,1751052541.070 [DAT](INFO): DAT read: Tx time:19:28:59.9128

2025-06-27T19:29:01.070Z,1751052541.070 [DAT](INFO): Ping request sent.
2025-06-27T19:29:01.070Z,1751052541.070 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:29:01.071Z,1751052541.071 [DAT](INFO): publishing transmit ping time
2025-06-27T19:29:01.315Z,1751052541.315 [DAT](INFO): DAT read: TxSync time:19:28:59.9121

2025-06-27T19:29:05.098Z,1751052545.098 [DAT](INFO): DAT read: Rx Time:19:29:03.3607

2025-06-27T19:29:05.100Z,1751052545.100 [DAT](INFO): Rx dataTimestamp_ set to:1751052545.098713
2025-06-27T19:29:05.607Z,1751052545.607 [DAT](INFO): DAT read: 19:29:03.3607 LVL= 26480, 32753, 31970, 32755, AGC= 85, IDX= 283, 0.28, 0.660,-0.838, 0.358, 0.049, PHS= 0.699,-0.840, 0.306, RAW= 135.8,  -2.4, CAL= 141.1, -12.0, ROT=   8.9,  12.0

2025-06-27T19:29:05.608Z,1751052545.608 [DAT](INFO): got valid direction response:
 19:29:03.3607 LVL= 26480, 32753, 31970, 32755, AGC= 85, IDX= 283, 0.28, 0.660,-0.838, 0.358, 0.049, PHS= 0.699,-0.840, 0.306, RAW= 135.8,  -2.4, CAL= 141.1, -12.0, ROT=   8.9,  12.0

2025-06-27T19:29:05.609Z,1751052545.609 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:29:05.610Z,1751052545.610 [DAT](INFO): Received a bad header
2025-06-27T19:29:05.623Z,1751052545.623 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-06-27T19:29:05.624Z,1751052545.624 [DAT](INFO): direction in FSK: [0.966371,0.151330,-0.207912]
2025-06-27T19:29:11.927Z,1751052551.927 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:29:11.928Z,1751052551.928 [DAT](INFO): response not received
2025-06-27T19:29:11.928Z,1751052551.928 [DAT](INFO): DAT read: user:2543>

2025-06-27T19:29:11.929Z,1751052551.929 [DAT](INFO): DAT read: Tx time:19:29:10.8629

2025-06-27T19:29:11.929Z,1751052551.929 [DAT](INFO): Ping request sent.
2025-06-27T19:29:11.929Z,1751052551.929 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:29:11.929Z,1751052551.929 [DAT](INFO): publishing transmit ping time
2025-06-27T19:29:12.181Z,1751052552.181 [DAT](INFO): DAT read: TxSync time:19:29:10.8622

2025-06-27T19:29:15.959Z,1751052555.959 [DAT](INFO): DAT read: Rx Time:19:29:14.3041

2025-06-27T19:29:15.960Z,1751052555.960 [DAT](INFO): Rx dataTimestamp_ set to:1751052555.959498
2025-06-27T19:29:16.470Z,1751052556.470 [DAT](INFO): DAT read: 19:29:14.3041 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 436, 0.19,-1.465,-2.991,-1.679,-2.083, PHS= 0.706,-0.861, 0.401, RAW= 139.4,  -3.4, CAL= 144.7, -12.9, ROT=   5.3,  12.9

2025-06-27T19:29:16.472Z,1751052556.472 [DAT](INFO): got valid direction response:
 19:29:14.3041 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 436, 0.19,-1.465,-2.991,-1.679,-2.083, PHS= 0.706,-0.861, 0.401, RAW= 139.4,  -3.4, CAL= 144.7, -12.9, ROT=   5.3,  12.9

2025-06-27T19:29:16.472Z,1751052556.472 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:29:16.473Z,1751052556.473 [DAT](INFO): Received a bad header
2025-06-27T19:29:16.487Z,1751052556.487 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-06-27T19:29:16.488Z,1751052556.488 [DAT](INFO): direction in FSK: [0.970594,0.090039,-0.223250]
2025-06-27T19:29:21.685Z,1751052561.685 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      +151 +2616.34,       +65.11,  20.00,230.40
2025-06-27T19:29:22.697Z,1751052562.697 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:29:23.016Z,1751052563.016 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:29:23.017Z,1751052563.017 [DAT](INFO): response not received
2025-06-27T19:29:23.017Z,1751052563.017 [DAT](INFO): DAT read: user:2545>

2025-06-27T19:29:23.018Z,1751052563.018 [DAT](INFO): DAT read: Tx time:19:29:21.8129

2025-06-27T19:29:23.019Z,1751052563.019 [DAT](INFO): Ping request sent.
2025-06-27T19:29:23.019Z,1751052563.019 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:29:23.019Z,1751052563.019 [DAT](INFO): publishing transmit ping time
2025-06-27T19:29:23.268Z,1751052563.268 [DAT](INFO): DAT read: TxSync time:19:29:21.8122

2025-06-27T19:29:23.699Z,1751052563.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:29:33.852Z,1751052573.852 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:29:33.852Z,1751052573.852 [DAT](INFO): response not received
2025-06-27T19:29:33.852Z,1751052573.852 [DAT](INFO): DAT read: user:2546>

2025-06-27T19:29:33.853Z,1751052573.853 [DAT](INFO): DAT read: Tx time:19:29:32.7630

2025-06-27T19:29:33.853Z,1751052573.853 [DAT](INFO): Ping request sent.
2025-06-27T19:29:33.853Z,1751052573.853 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:29:33.854Z,1751052573.854 [DAT](INFO): publishing transmit ping time
2025-06-27T19:29:34.103Z,1751052574.103 [DAT](INFO): DAT read: TxSync time:19:29:32.7623

2025-06-27T19:29:37.883Z,1751052577.883 [DAT](INFO): DAT read: Rx Time:19:29:36.1823

2025-06-27T19:29:37.884Z,1751052577.884 [DAT](INFO): Rx dataTimestamp_ set to:1751052577.883643
2025-06-27T19:29:38.388Z,1751052578.388 [DAT](INFO): DAT read: Range 10 to 50 : 761.2 m  (Round-trip  1015.0 ms) speed  1.2 m/s

2025-06-27T19:29:38.389Z,1751052578.389 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-27T19:29:41.056Z,1751052581.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:29:41.159Z,1751052581.159 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:29:41.159Z,1751052581.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:29:41.412Z,1751052581.412 [DAT](INFO): DAT read: user:2547>

2025-06-27T19:29:41.413Z,1751052581.413 [DAT](INFO): DAT read: Tx time:19:29:40.2131

2025-06-27T19:29:41.413Z,1751052581.413 [DAT](INFO): Ping request sent.
2025-06-27T19:29:41.413Z,1751052581.413 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:29:41.413Z,1751052581.413 [DAT](INFO): publishing transmit ping time
2025-06-27T19:29:41.414Z,1751052581.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-06-27T19:29:41.666Z,1751052581.666 [DAT](INFO): DAT read: TxSync time:19:29:40.2124

2025-06-27T19:29:41.668Z,1751052581.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254755
2025-06-27T19:29:41.916Z,1751052581.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502480
2025-06-27T19:29:42.167Z,1751052582.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041
2025-06-27T19:29:42.419Z,1751052582.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006021
2025-06-27T19:29:42.675Z,1751052582.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260312
2025-06-27T19:29:42.923Z,1751052582.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510054
2025-06-27T19:29:43.176Z,1751052583.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763100
2025-06-27T19:29:43.427Z,1751052583.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014151
2025-06-27T19:29:43.682Z,1751052583.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268396
2025-06-27T19:29:43.932Z,1751052583.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518552
2025-06-27T19:29:44.183Z,1751052584.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946
2025-06-27T19:29:44.435Z,1751052584.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022059
2025-06-27T19:29:44.690Z,1751052584.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276437
2025-06-27T19:29:44.939Z,1751052584.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526028
2025-06-27T19:29:45.191Z,1751052585.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778048
2025-06-27T19:29:45.443Z,1751052585.443 [DAT](INFO): DAT read: Rx Time:19:29:43.6265

2025-06-27T19:29:45.444Z,1751052585.444 [DAT](INFO): Rx dataTimestamp_ set to:1751052585.443674
2025-06-27T19:29:45.444Z,1751052585.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031183
2025-06-27T19:29:45.698Z,1751052585.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284041
2025-06-27T19:29:45.961Z,1751052585.961 [DAT](INFO): DAT read: 19:29:43.6265 LVL= 29552, 32753, 29074, 32755, AGC= 81, IDX= 380,-0.37, 0.977,-0.521, 0.364, 0.411, PHS= 0.654,-0.884,-0.050, RAW= 122.8,   4.2, CAL= 131.5,  -0.9, ROT=  18.5,   0.9

2025-06-27T19:29:45.962Z,1751052585.962 [DAT](INFO): got valid direction response:
 19:29:43.6265 LVL= 29552, 32753, 29074, 32755, AGC= 81, IDX= 380,-0.37, 0.977,-0.521, 0.364, 0.411, PHS= 0.654,-0.884,-0.050, RAW= 122.8,   4.2, CAL= 131.5,  -0.9, ROT=  18.5,   0.9

2025-06-27T19:29:45.963Z,1751052585.963 [DAT](INFO): DAT read: Bearing  18.5,   0.9 (Local)

2025-06-27T19:29:45.963Z,1751052585.963 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.5,   0.9 (Local)

2025-06-27T19:29:45.965Z,1751052585.965 [DAT](INFO): DAT read: Range 10 to 50 : 756.9 m  (Round-trip  1009.2 ms) speed  0.5 m/s

2025-06-27T19:29:45.965Z,1751052585.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:29:45.971Z,1751052585.971 [DAT](INFO): direction in FSK: [0.948207,0.317266,-0.015707]
2025-06-27T19:29:45.971Z,1751052585.971 [DAT](INFO): publishing direction and range info
2025-06-27T19:29:53.820Z,1751052593.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:29:54.824Z,1751052594.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:30:24.943Z,1751052624.943 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:30:25.947Z,1751052625.947 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:30:39.618Z,1751052639.618 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-06-27T19:30:41.237Z,1751052641.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:30:41.419Z,1751052641.419 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:30:41.419Z,1751052641.419 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:30:41.671Z,1751052641.671 [DAT](INFO): DAT read: user:2548>

2025-06-27T19:30:41.672Z,1751052641.672 [DAT](INFO): DAT read: Tx time:19:30:40.4636

2025-06-27T19:30:41.672Z,1751052641.672 [DAT](INFO): Ping request sent.
2025-06-27T19:30:41.672Z,1751052641.672 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:30:41.673Z,1751052641.673 [DAT](INFO): publishing transmit ping time
2025-06-27T19:30:41.673Z,1751052641.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-27T19:30:41.924Z,1751052641.924 [DAT](INFO): DAT read: TxSync time:19:30:40.4628

2025-06-27T19:30:41.925Z,1751052641.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252708
2025-06-27T19:30:42.176Z,1751052642.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503389
2025-06-27T19:30:42.427Z,1751052642.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754848
2025-06-27T19:30:42.680Z,1751052642.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007126
2025-06-27T19:30:42.931Z,1751052642.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259007
2025-06-27T19:30:43.183Z,1751052643.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867
2025-06-27T19:30:43.435Z,1751052643.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865
2025-06-27T19:30:43.687Z,1751052643.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009
2025-06-27T19:30:43.939Z,1751052643.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833
2025-06-27T19:30:44.192Z,1751052644.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519065
2025-06-27T19:30:44.443Z,1751052644.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770922
2025-06-27T19:30:44.695Z,1751052644.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022874
2025-06-27T19:30:44.947Z,1751052644.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274995
2025-06-27T19:30:45.199Z,1751052645.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526931
2025-06-27T19:30:45.451Z,1751052645.451 [DAT](INFO): DAT read: Rx Time:19:30:43.8208

2025-06-27T19:30:45.452Z,1751052645.452 [DAT](INFO): Rx dataTimestamp_ set to:1751052645.451544
2025-06-27T19:30:45.452Z,1751052645.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779940
2025-06-27T19:30:45.703Z,1751052645.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031003
2025-06-27T19:30:45.966Z,1751052645.966 [DAT](INFO): DAT read: 19:30:43.8208 LVL= 31456, 32753, 32754, 32755, AGC= 83, IDX= 379,-0.06, 1.603, 0.181, 1.108, 1.046, PHS= 0.645,-0.818, 0.059, RAW= 126.6,   1.8, CAL= 133.5,  -5.5, ROT=  16.5,   5.5

2025-06-27T19:30:45.967Z,1751052645.967 [DAT](INFO): got valid direction response:
 19:30:43.8208 LVL= 31456, 32753, 32754, 32755, AGC= 83, IDX= 379,-0.06, 1.603, 0.181, 1.108, 1.046, PHS= 0.645,-0.818, 0.059, RAW= 126.6,   1.8, CAL= 133.5,  -5.5, ROT=  16.5,   5.5

2025-06-27T19:30:45.968Z,1751052645.968 [DAT](INFO): DAT read: Bearing  16.5,   5.5 (Local)

2025-06-27T19:30:45.968Z,1751052645.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.5,   5.5 (Local)

2025-06-27T19:30:45.970Z,1751052645.970 [DAT](INFO): DAT read: Range 10 to 50 : 714.7 m  (Round-trip  953.0 ms) speed  0.5 m/s

2025-06-27T19:30:45.970Z,1751052645.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:30:45.971Z,1751052645.971 [DAT](INFO): direction in FSK: [0.954406,0.282708,-0.095846]
2025-06-27T19:30:45.971Z,1751052645.971 [DAT](INFO): publishing direction and range info
2025-06-27T19:30:56.067Z,1751052656.067 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:30:57.071Z,1751052657.071 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:31:27.208Z,1751052687.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:31:28.212Z,1751052688.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:31:41.549Z,1751052701.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:31:41.715Z,1751052701.715 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:31:41.715Z,1751052701.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:31:41.967Z,1751052701.967 [DAT](INFO): DAT read: user:2549>

2025-06-27T19:31:41.968Z,1751052701.968 [DAT](INFO): DAT read: Tx time:19:31:40.7641

2025-06-27T19:31:41.968Z,1751052701.968 [DAT](INFO): Ping request sent.
2025-06-27T19:31:41.968Z,1751052701.968 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:31:41.969Z,1751052701.969 [DAT](INFO): publishing transmit ping time
2025-06-27T19:31:41.969Z,1751052701.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-06-27T19:31:42.220Z,1751052702.220 [DAT](INFO): DAT read: TxSync time:19:31:40.7633

2025-06-27T19:31:42.220Z,1751052702.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827
2025-06-27T19:31:42.471Z,1751052702.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502879
2025-06-27T19:31:42.724Z,1751052702.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755006
2025-06-27T19:31:42.977Z,1751052702.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007788
2025-06-27T19:31:43.228Z,1751052703.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259202
2025-06-27T19:31:43.479Z,1751052703.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510964
2025-06-27T19:31:43.731Z,1751052703.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762799
2025-06-27T19:31:43.983Z,1751052703.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014823
2025-06-27T19:31:44.244Z,1751052704.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275103
2025-06-27T19:31:44.498Z,1751052704.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528820
2025-06-27T19:31:44.747Z,1751052704.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778878
2025-06-27T19:31:45.000Z,1751052705.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031491
2025-06-27T19:31:45.253Z,1751052705.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283739
2025-06-27T19:31:45.504Z,1751052705.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535214
2025-06-27T19:31:45.756Z,1751052705.756 [DAT](INFO): DAT read: Rx Time:19:31:44.0631

2025-06-27T19:31:45.756Z,1751052705.756 [DAT](INFO): Rx dataTimestamp_ set to:1751052705.755805
2025-06-27T19:31:45.757Z,1751052705.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788120
2025-06-27T19:31:46.008Z,1751052706.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039129
2025-06-27T19:31:46.269Z,1751052706.269 [DAT](INFO): DAT read: 19:31:44.0631 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 359,-0.36, 0.094,-1.390,-0.207,-0.429, PHS= 0.611,-0.915, 0.219, RAW= 135.7,   1.3, CAL= 140.8,  -7.3, ROT=   9.2,   7.3

2025-06-27T19:31:46.270Z,1751052706.270 [DAT](INFO): got valid direction response:
 19:31:44.0631 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 359,-0.36, 0.094,-1.390,-0.207,-0.429, PHS= 0.611,-0.915, 0.219, RAW= 135.7,   1.3, CAL= 140.8,  -7.3, ROT=   9.2,   7.3

2025-06-27T19:31:46.271Z,1751052706.271 [DAT](INFO): DAT read: Bearing   9.2,   7.3 (Local)

2025-06-27T19:31:46.272Z,1751052706.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.2,   7.3 (Local)

2025-06-27T19:31:46.273Z,1751052706.273 [DAT](INFO): DAT read: Range 10 to 50 : 671.1 m  (Round-trip  894.8 ms) speed  0.6 m/s

2025-06-27T19:31:46.274Z,1751052706.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:31:46.275Z,1751052706.275 [DAT](INFO): direction in FSK: [0.979135,0.158585,-0.127065]
2025-06-27T19:31:46.275Z,1751052706.275 [DAT](INFO): publishing direction and range info
2025-06-27T19:31:46.710Z,1751052706.710 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-06-27T19:31:46.711Z,1751052706.711 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-06-27T19:31:46.711Z,1751052706.711 [RDI_Pathfinder](ERROR): Communications Fault
2025-06-27T19:31:46.794Z,1751052706.794 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-06-27T19:31:47.084Z,1751052707.084 [RDI_Pathfinder](INFO): Powering down
2025-06-27T19:31:47.954Z,1751052707.954 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-06-27T19:31:47.954Z,1751052707.954 [RDI_Pathfinder] No Fault, FailCount= 1
2025-06-27T19:31:48.289Z,1751052708.289 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-06-27T19:31:58.331Z,1751052718.331 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:31:59.335Z,1751052719.335 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:32:11.741Z,1751052731.741 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 173.07, 160.35, 166.29
2025-06-27T19:32:29.455Z,1751052749.455 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:32:30.459Z,1751052750.459 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:32:41.647Z,1751052761.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:41.759Z,1751052761.759 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:32:41.759Z,1751052761.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:32:42.014Z,1751052762.014 [DAT](INFO): DAT read: user:2550>

2025-06-27T19:32:42.017Z,1751052762.017 [DAT](INFO): DAT read: Tx time:19:32:40.8147

2025-06-27T19:32:42.017Z,1751052762.017 [DAT](INFO): Ping request sent.
2025-06-27T19:32:42.018Z,1751052762.018 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:32:42.019Z,1751052762.019 [DAT](INFO): publishing transmit ping time
2025-06-27T19:32:42.021Z,1751052762.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002928
2025-06-27T19:32:42.263Z,1751052762.263 [DAT](INFO): DAT read: TxSync time:19:32:40.8139

2025-06-27T19:32:42.264Z,1751052762.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246587
2025-06-27T19:32:42.515Z,1751052762.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497793
2025-06-27T19:32:42.767Z,1751052762.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749698
2025-06-27T19:32:43.023Z,1751052763.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004580
2025-06-27T19:32:43.271Z,1751052763.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253865
2025-06-27T19:32:43.523Z,1751052763.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505678
2025-06-27T19:32:43.775Z,1751052763.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757667
2025-06-27T19:32:44.030Z,1751052764.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011565
2025-06-27T19:32:44.279Z,1751052764.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261631
2025-06-27T19:32:44.531Z,1751052764.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513760
2025-06-27T19:32:44.783Z,1751052764.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765736
2025-06-27T19:32:45.035Z,1751052765.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017641
2025-06-27T19:32:45.287Z,1751052765.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269710
2025-06-27T19:32:45.539Z,1751052765.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521765
2025-06-27T19:32:45.791Z,1751052765.791 [DAT](INFO): DAT read: Rx Time:19:32:44.0566

2025-06-27T19:32:45.792Z,1751052765.792 [DAT](INFO): Rx dataTimestamp_ set to:1751052765.791610
2025-06-27T19:32:45.792Z,1751052765.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774821
2025-06-27T19:32:46.049Z,1751052766.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031108
2025-06-27T19:32:46.305Z,1751052766.305 [DAT](INFO): DAT read: 19:32:44.0566 LVL= 27040, 32753, 32754, 32755, AGC= 79, IDX= 367,-0.04,-0.249,-1.661,-0.670,-0.831, PHS= 0.670,-0.783, 0.157, RAW= 129.6,  -0.7, CAL= 135.6,  -9.6, ROT=  14.4,   9.6

2025-06-27T19:32:46.306Z,1751052766.306 [DAT](INFO): got valid direction response:
 19:32:44.0566 LVL= 27040, 32753, 32754, 32755, AGC= 79, IDX= 367,-0.04,-0.249,-1.661,-0.670,-0.831, PHS= 0.670,-0.783, 0.157, RAW= 129.6,  -0.7, CAL= 135.6,  -9.6, ROT=  14.4,   9.6

2025-06-27T19:32:46.312Z,1751052766.312 [DAT](INFO): DAT read: Bearing  14.4,   9.6 (Local)

2025-06-27T19:32:46.312Z,1751052766.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing  14.4,   9.6 (Local)

2025-06-27T19:32:46.313Z,1751052766.313 [DAT](INFO): DAT read: Range 10 to 50 : 628.2 m  (Round-trip  837.7 ms) speed  0.4 m/s

2025-06-27T19:32:46.314Z,1751052766.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:32:46.315Z,1751052766.315 [DAT](INFO): direction in FSK: [0.955019,0.245207,-0.166769]
2025-06-27T19:32:46.316Z,1751052766.316 [DAT](INFO): publishing direction and range info
2025-06-27T19:32:46.904Z,1751052766.904 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-06-27T19:32:46.904Z,1751052766.904 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:32:46.905Z,1751052766.905 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-06-27T19:32:46.958Z,1751052766.958 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 628.200012 m (mode  0.000000 count ).
2025-06-27T19:32:46.959Z,1751052766.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-06-27T19:32:46.959Z,1751052766.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-06-27T19:32:46.961Z,1751052766.961 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-06-27T19:32:46.962Z,1751052766.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-27T19:32:46.962Z,1751052766.962 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-06-27T19:32:46.977Z,1751052766.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 628.200012 m 
2025-06-27T19:32:46.977Z,1751052766.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-06-27T19:32:46.977Z,1751052766.977 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-06-27T19:32:47.316Z,1751052767.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-06-27T19:32:47.316Z,1751052767.316 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-06-27T19:32:47.316Z,1751052767.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:47.319Z,1751052767.319 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-06-27T19:32:47.319Z,1751052767.319 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-27T19:32:47.319Z,1751052767.319 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-06-27T19:32:47.319Z,1751052767.319 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-06-27T19:32:47.559Z,1751052767.559 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:32:47.559Z,1751052767.559 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:32:47.559Z,1751052767.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:32:47.697Z,1751052767.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-06-27T19:32:47.697Z,1751052767.697 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-06-27T19:32:47.697Z,1751052767.697 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-27T19:32:47.697Z,1751052767.697 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-27T19:32:47.698Z,1751052767.698 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-06-27T19:32:47.715Z,1751052767.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-06-27T19:32:47.716Z,1751052767.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-06-27T19:32:47.717Z,1751052767.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-06-27T19:32:47.718Z,1751052767.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-06-27T19:32:47.718Z,1751052767.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-06-27T19:32:47.718Z,1751052767.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-06-27T19:32:47.718Z,1751052767.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-06-27T19:32:47.719Z,1751052767.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-06-27T19:32:47.719Z,1751052767.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-06-27T19:32:47.719Z,1751052767.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-06-27T19:32:47.719Z,1751052767.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-06-27T19:32:47.720Z,1751052767.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-06-27T19:32:47.720Z,1751052767.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-06-27T19:32:47.720Z,1751052767.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-06-27T19:32:47.720Z,1751052767.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-27T19:32:47.720Z,1751052767.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-06-27T19:32:47.721Z,1751052767.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-06-27T19:32:47.721Z,1751052767.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-06-27T19:32:47.722Z,1751052767.722 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-06-27T19:32:47.726Z,1751052767.726 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-06-27T19:32:47.726Z,1751052767.726 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-06-27T19:32:47.726Z,1751052767.726 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-06-27T19:32:47.811Z,1751052767.811 [DAT](INFO): DAT read: user:2551>

2025-06-27T19:32:47.812Z,1751052767.812 [DAT](INFO): DAT read: Tx time:19:32:46.6147

2025-06-27T19:32:47.813Z,1751052767.813 [DAT](INFO): Ping request sent.
2025-06-27T19:32:47.813Z,1751052767.813 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:32:47.813Z,1751052767.813 [DAT](INFO): publishing transmit ping time
2025-06-27T19:32:47.813Z,1751052767.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-06-27T19:32:48.063Z,1751052768.063 [DAT](INFO): DAT read: TxSync time:19:32:46.6139

2025-06-27T19:32:48.064Z,1751052768.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251497
2025-06-27T19:32:48.192Z,1751052768.192 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-06-27T19:32:48.193Z,1751052768.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:32:48.193Z,1751052768.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-06-27T19:32:48.193Z,1751052768.193 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-06-27T19:32:48.196Z,1751052768.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 628.200012 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-06-27T19:32:48.199Z,1751052768.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 622.535034 m,
      bearing: 251.941533 deg,
      lat: 36.906699 deg,
      lon: -122.116509 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-06-27T19:32:48.200Z,1751052768.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:48.202Z,1751052768.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 616.121399 m,
      bearing: 251.926623 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 237.122038 deg,
      new cmd heading: 251.926623 deg.

2025-06-27T19:32:48.203Z,1751052768.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396949 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:48.231Z,1751052768.231 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-06-27T19:32:48.231Z,1751052768.231 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-06-27T19:32:48.244Z,1751052768.244 [DockingStepper](INFO): Resume
2025-06-27T19:32:48.316Z,1751052768.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502946
2025-06-27T19:32:48.505Z,1751052768.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:48.508Z,1751052768.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 615.888794 m,
      bearing: 251.931127 deg,
      approach rate: -0.751160 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.926610 deg,
      new cmd heading: 251.931127 deg.

2025-06-27T19:32:48.509Z,1751052768.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397027 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:48.523Z,1751052768.523 [DockingStepper](INFO): Resuming
2025-06-27T19:32:48.568Z,1751052768.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754868
2025-06-27T19:32:48.819Z,1751052768.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006591
2025-06-27T19:32:48.920Z,1751052768.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:48.927Z,1751052768.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 615.589966 m,
      bearing: 251.936971 deg,
      approach rate: -0.719991 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.931118 deg,
      new cmd heading: 251.936971 deg.

2025-06-27T19:32:48.928Z,1751052768.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397130 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:49.071Z,1751052769.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258783
2025-06-27T19:32:49.121Z,1751052769.121 [DockingStepper](INFO): Start
2025-06-27T19:32:49.122Z,1751052769.122 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-27T19:32:49.240Z,1751052769.240 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-27T19:32:49.323Z,1751052769.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510709
2025-06-27T19:32:49.437Z,1751052769.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:49.439Z,1751052769.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:49.441Z,1751052769.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 615.188354 m,
      bearing: 251.943404 deg,
      approach rate: -0.774400 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.936964 deg,
      new cmd heading: 251.943404 deg.

2025-06-27T19:32:49.442Z,1751052769.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397242 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:49.575Z,1751052769.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762688
2025-06-27T19:32:49.647Z,1751052769.647 [DockingStepper](INFO): Starting
2025-06-27T19:32:49.828Z,1751052769.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971
2025-06-27T19:32:49.889Z,1751052769.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:49.892Z,1751052769.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 614.848511 m,
      bearing: 251.948841 deg,
      approach rate: -0.755240 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.943412 deg,
      new cmd heading: 251.948841 deg.

2025-06-27T19:32:49.892Z,1751052769.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397337 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:50.027Z,1751052770.027 [DockingStepper](INFO): Starting
2025-06-27T19:32:50.080Z,1751052770.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850
2025-06-27T19:32:50.274Z,1751052770.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:50.281Z,1751052770.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 614.598572 m,
      bearing: 251.952652 deg,
      approach rate: -0.649111 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.948849 deg,
      new cmd heading: 251.952652 deg.

2025-06-27T19:32:50.281Z,1751052770.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397403 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:50.312Z,1751052770.312 [DockingStepper](INFO): Starting
2025-06-27T19:32:50.332Z,1751052770.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519522
2025-06-27T19:32:50.363Z,1751052770.363 [DockingStepper](INFO): Init string: /1z16368aE13561N3m50
2025-06-27T19:32:50.583Z,1751052770.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770661
2025-06-27T19:32:50.661Z,1751052770.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:50.665Z,1751052770.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 614.299133 m,
      bearing: 251.957223 deg,
      approach rate: -0.774453 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.952646 deg,
      new cmd heading: 251.957223 deg.

2025-06-27T19:32:50.666Z,1751052770.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397483 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:50.720Z,1751052770.720 [DockingStepper](INFO): Starting
2025-06-27T19:32:50.835Z,1751052770.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022717
2025-06-27T19:32:51.062Z,1751052771.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:51.065Z,1751052771.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 614.010681 m,
      bearing: 251.961399 deg,
      approach rate: -0.719343 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.957236 deg,
      new cmd heading: 251.961399 deg.

2025-06-27T19:32:51.066Z,1751052771.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397556 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:51.087Z,1751052771.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274718
2025-06-27T19:32:51.089Z,1751052771.089 [DockingStepper](INFO): Starting
2025-06-27T19:32:51.341Z,1751052771.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528647
2025-06-27T19:32:51.468Z,1751052771.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:51.474Z,1751052771.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:51.477Z,1751052771.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 613.756042 m,
      bearing: 251.965031 deg,
      approach rate: -0.617171 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.961389 deg,
      new cmd heading: 251.965031 deg.

2025-06-27T19:32:51.478Z,1751052771.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397619 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:51.536Z,1751052771.536 [DockingStepper](INFO): Starting
2025-06-27T19:32:51.592Z,1751052771.592 [DAT](INFO): DAT read: Rx Time:19:32:49.8446

2025-06-27T19:32:51.593Z,1751052771.593 [DAT](INFO): Rx dataTimestamp_ set to:1751052771.592460
2025-06-27T19:32:51.593Z,1751052771.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780639
2025-06-27T19:32:51.840Z,1751052771.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:51.843Z,1751052771.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030767
2025-06-27T19:32:51.842Z,1751052771.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 613.494568 m,
      bearing: 251.968602 deg,
      approach rate: -0.715551 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.965023 deg,
      new cmd heading: 251.968602 deg.

2025-06-27T19:32:51.845Z,1751052771.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397682 target range: 622.535034 and range: 628.20 m.
2025-06-27T19:32:51.857Z,1751052771.857 [DockingStepper](INFO): Starting
2025-06-27T19:32:51.891Z,1751052771.891 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:�/0@
2025-06-27T19:32:52.096Z,1751052772.096 [DAT](INFO): DAT read: Range 10 to 50 : 619.2 m  (Round-trip  825.7 ms) speed  0.4 m/s

2025-06-27T19:32:52.097Z,1751052772.097 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:32:52.097Z,1751052772.097 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:32:52.098Z,1751052772.098 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:32:52.098Z,1751052772.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:32:52.275Z,1751052772.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 619.200012 m,
      deltaT: 5.795739 s,
      deltaX: -9.000000 m,
      approachRate: -1.552865 m/s,
      rangeRepo size: 2

2025-06-27T19:32:52.276Z,1751052772.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:52.288Z,1751052772.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 613.225891 m,
      bearing: 251.971860 deg,
      approach rate: -0.618284 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.968602 deg,
      new cmd heading: 251.971860 deg.

2025-06-27T19:32:52.289Z,1751052772.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397738 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:52.311Z,1751052772.311 [DockingStepper](INFO): Starting
2025-06-27T19:32:52.348Z,1751052772.348 [DAT](INFO): DAT read: user:2552>

2025-06-27T19:32:52.348Z,1751052772.348 [DAT](INFO): DAT read: Tx time:19:32:51.1147

2025-06-27T19:32:52.349Z,1751052772.349 [DAT](INFO): Ping request sent.
2025-06-27T19:32:52.349Z,1751052772.349 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:32:52.349Z,1751052772.349 [DAT](INFO): DAT read: TxSync time:19:32:51.1139

2025-06-27T19:32:52.350Z,1751052772.350 [DAT](INFO): publishing transmit ping time
2025-06-27T19:32:52.351Z,1751052772.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002303
2025-06-27T19:32:52.599Z,1751052772.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250463
2025-06-27T19:32:52.645Z,1751052772.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:52.648Z,1751052772.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 612.996338 m,
      bearing: 251.974214 deg,
      approach rate: -0.618657 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.971853 deg,
      new cmd heading: 251.974214 deg.

2025-06-27T19:32:52.649Z,1751052772.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397779 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:52.662Z,1751052772.662 [DockingStepper](INFO): Changing to mode: 1
2025-06-27T19:32:52.662Z,1751052772.662 [DockingStepper](INFO): Standby mode.
2025-06-27T19:32:52.852Z,1751052772.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503410
2025-06-27T19:32:53.059Z,1751052773.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:53.061Z,1751052773.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 612.739990 m,
      bearing: 251.976547 deg,
      approach rate: -0.620213 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.974203 deg,
      new cmd heading: 251.976547 deg.

2025-06-27T19:32:53.062Z,1751052773.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397820 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:53.104Z,1751052773.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754695
2025-06-27T19:32:53.355Z,1751052773.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006449
2025-06-27T19:32:53.561Z,1751052773.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:53.567Z,1751052773.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:53.570Z,1751052773.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 612.447205 m,
      bearing: 251.978401 deg,
      approach rate: -0.575402 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.976552 deg,
      new cmd heading: 251.978401 deg.

2025-06-27T19:32:53.575Z,1751052773.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397853 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:53.607Z,1751052773.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258647
2025-06-27T19:32:53.859Z,1751052773.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510652
2025-06-27T19:32:53.871Z,1751052773.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:53.874Z,1751052773.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 612.258850 m,
      bearing: 251.979313 deg,
      approach rate: -0.629782 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.978410 deg,
      new cmd heading: 251.979313 deg.

2025-06-27T19:32:53.879Z,1751052773.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397869 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:54.112Z,1751052774.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763588
2025-06-27T19:32:54.301Z,1751052774.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:54.304Z,1751052774.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 611.978516 m,
      bearing: 251.980751 deg,
      approach rate: -0.645496 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.979312 deg,
      new cmd heading: 251.980751 deg.

2025-06-27T19:32:54.304Z,1751052774.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397894 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:54.364Z,1751052774.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015332
2025-06-27T19:32:54.615Z,1751052774.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266541
2025-06-27T19:32:54.684Z,1751052774.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:54.691Z,1751052774.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 611.743958 m,
      bearing: 251.981223 deg,
      approach rate: -0.612016 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.980760 deg,
      new cmd heading: 251.981223 deg.

2025-06-27T19:32:54.692Z,1751052774.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397902 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:54.868Z,1751052774.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519355
2025-06-27T19:32:55.068Z,1751052775.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:55.070Z,1751052775.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 611.499756 m,
      bearing: 251.981361 deg,
      approach rate: -0.636640 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.981224 deg,
      new cmd heading: 251.981361 deg.

2025-06-27T19:32:55.071Z,1751052775.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397904 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:55.119Z,1751052775.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770625
2025-06-27T19:32:55.371Z,1751052775.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022539
2025-06-27T19:32:55.497Z,1751052775.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:55.500Z,1751052775.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 611.224365 m,
      bearing: 251.981480 deg,
      approach rate: -0.641311 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.981361 deg,
      new cmd heading: 251.981480 deg.

2025-06-27T19:32:55.501Z,1751052775.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397906 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:55.624Z,1751052775.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904
2025-06-27T19:32:55.876Z,1751052775.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526878
2025-06-27T19:32:55.885Z,1751052775.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:55.892Z,1751052775.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:55.900Z,1751052775.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 610.984863 m,
      bearing: 251.981282 deg,
      approach rate: -0.607451 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.981470 deg,
      new cmd heading: 251.981282 deg.

2025-06-27T19:32:55.901Z,1751052775.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397903 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:56.128Z,1751052776.128 [DAT](INFO): DAT read: Rx Time:19:32:54.3345

2025-06-27T19:32:56.128Z,1751052776.128 [DAT](INFO): Rx dataTimestamp_ set to:1751052776.128000
2025-06-27T19:32:56.129Z,1751052776.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780000
2025-06-27T19:32:56.329Z,1751052776.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.54 m.
2025-06-27T19:32:56.331Z,1751052776.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 622.535034 m,
      nav range: 610.680786 m,
      bearing: 251.981144 deg,
      approach rate: -0.695189 m/s,
      LOS rate: nan deg/s,
      cmd heading: 251.981279 deg,
      new cmd heading: 251.981144 deg.

2025-06-27T19:32:56.332Z,1751052776.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397901 target range: 622.535034 and range: 619.20 m.
2025-06-27T19:32:56.380Z,1751052776.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031156
2025-06-27T19:32:56.637Z,1751052776.637 [DAT](INFO): DAT read: 19:32:54.3345 LVL= 26528, 19505, 23026, 26771, AGC= 69, IDX= 396,-0.39, 2.752, 0.977, 2.690, 2.056, PHS= 0.784,-1.032, 0.630, RAW= 145.6,  -4.4, CAL= 150.7, -13.4, ROT= 359.3,  13.4

2025-06-27T19:32:56.639Z,1751052776.639 [DAT](INFO): got valid direction response:
 19:32:54.3345 LVL= 26528, 19505, 23026, 26771, AGC= 69, IDX= 396,-0.39, 2.752, 0.977, 2.690, 2.056, PHS= 0.784,-1.032, 0.630, RAW= 145.6,  -4.4, CAL= 150.7, -13.4, ROT= 359.3,  13.4

2025-06-27T19:32:56.640Z,1751052776.640 [DAT](INFO): DAT read: Bearing 359.3,  13.4 (Local)

2025-06-27T19:32:56.640Z,1751052776.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  13.4 (Local)

2025-06-27T19:32:56.641Z,1751052776.641 [DAT](INFO): DAT read: Range 10 to 50 : 611.7 m  (Round-trip  815.6 ms) speed  0.5 m/s

2025-06-27T19:32:56.642Z,1751052776.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:32:56.643Z,1751052776.643 [DAT](INFO): direction in FSK: [0.972703,-0.011884,-0.231748]
2025-06-27T19:32:56.643Z,1751052776.643 [DAT](INFO): publishing direction and range info
2025-06-27T19:32:56.653Z,1751052776.653 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:32:56.653Z,1751052776.653 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:32:56.653Z,1751052776.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:32:56.724Z,1751052776.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 611.700012 m,
      deltaT: 4.536156 s,
      deltaX: -7.500000 m,
      approachRate: -1.653382 m/s,
      rangeRepo size: 3

2025-06-27T19:32:56.732Z,1751052776.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 606.188538 m,
      bearing: 249.702770 deg,
      lat: 36.906641 deg,
      lon: -122.116509 deg,
      deltaT: 10.331895 s,
      deltaX: -16.346497 m,
      approachRate: -1.582139 m/s,
      posRepo size: 2

2025-06-27T19:32:56.733Z,1751052776.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:56.739Z,1751052776.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 249.702770 deg.
2025-06-27T19:32:56.740Z,1751052776.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358136 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:56.883Z,1751052776.883 [DAT](INFO): DAT read: user:2553>

2025-06-27T19:32:56.884Z,1751052776.884 [DAT](INFO): DAT read: Tx time:19:32:55.6648

2025-06-27T19:32:56.885Z,1751052776.885 [DAT](INFO): Ping request sent.
2025-06-27T19:32:56.885Z,1751052776.885 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:32:56.885Z,1751052776.885 [DAT](INFO): publishing transmit ping time
2025-06-27T19:32:56.885Z,1751052776.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-27T19:32:57.092Z,1751052777.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:57.111Z,1751052777.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 612.213806 m,
      bearing: 251.401287 deg,
      approach rate: -0.743649 m/s,
      LOS rate: -0.002377 deg/s,
      cmd heading: 249.702782 deg,
      new cmd heading: 249.700159 deg.

2025-06-27T19:32:57.112Z,1751052777.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358090 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:57.138Z,1751052777.138 [DAT](INFO): DAT read: TxSync time:19:32:55.6640

2025-06-27T19:32:57.139Z,1751052777.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254367
2025-06-27T19:32:57.390Z,1751052777.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504661
2025-06-27T19:32:57.515Z,1751052777.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:57.518Z,1751052777.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 611.920471 m,
      bearing: 251.400617 deg,
      approach rate: -0.693181 m/s,
      LOS rate: -0.001584 deg/s,
      cmd heading: 249.700159 deg,
      new cmd heading: 249.698148 deg.

2025-06-27T19:32:57.519Z,1751052777.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358055 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:57.639Z,1751052777.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754699
2025-06-27T19:32:57.891Z,1751052777.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006642
2025-06-27T19:32:57.980Z,1751052777.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:32:57.982Z,1751052777.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:57.985Z,1751052777.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 611.607544 m,
      bearing: 251.399714 deg,
      approach rate: -0.670028 m/s,
      LOS rate: -0.001935 deg/s,
      cmd heading: 249.698138 deg,
      new cmd heading: 249.695427 deg.

2025-06-27T19:32:57.986Z,1751052777.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358007 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:58.143Z,1751052778.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258663
2025-06-27T19:32:58.387Z,1751052778.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:58.390Z,1751052778.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 611.311462 m,
      bearing: 251.399398 deg,
      approach rate: -0.733709 m/s,
      LOS rate: -0.000783 deg/s,
      cmd heading: 249.695433 deg,
      new cmd heading: 249.694485 deg.

2025-06-27T19:32:58.391Z,1751052778.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357991 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:58.395Z,1751052778.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510827
2025-06-27T19:32:58.647Z,1751052778.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762615
2025-06-27T19:32:58.738Z,1751052778.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:58.741Z,1751052778.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 611.060730 m,
      bearing: 251.398941 deg,
      approach rate: -0.711181 m/s,
      LOS rate: -0.001296 deg/s,
      cmd heading: 249.694477 deg,
      new cmd heading: 249.693106 deg.

2025-06-27T19:32:58.742Z,1751052778.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357967 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:58.899Z,1751052778.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014598
2025-06-27T19:32:59.135Z,1751052779.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:59.138Z,1751052779.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 610.766846 m,
      bearing: 251.398357 deg,
      approach rate: -0.740209 m/s,
      LOS rate: -0.001473 deg/s,
      cmd heading: 249.693111 deg,
      new cmd heading: 249.691356 deg.

2025-06-27T19:32:59.151Z,1751052779.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266834
2025-06-27T19:32:59.155Z,1751052779.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357936 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:59.403Z,1751052779.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518635
2025-06-27T19:32:59.552Z,1751052779.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:59.558Z,1751052779.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 610.472412 m,
      bearing: 251.398254 deg,
      approach rate: -0.707025 m/s,
      LOS rate: -0.000246 deg/s,
      cmd heading: 249.691362 deg,
      new cmd heading: 249.691055 deg.

2025-06-27T19:32:59.559Z,1751052779.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357931 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:32:59.657Z,1751052779.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772217
2025-06-27T19:32:59.907Z,1751052779.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022804
2025-06-27T19:32:59.919Z,1751052779.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:32:59.921Z,1751052779.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 610.183228 m,
      bearing: 251.398121 deg,
      approach rate: -0.788338 m/s,
      LOS rate: -0.000364 deg/s,
      cmd heading: 249.691062 deg,
      new cmd heading: 249.690661 deg.

2025-06-27T19:32:59.922Z,1751052779.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357924 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:33:00.159Z,1751052780.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274670
2025-06-27T19:33:00.369Z,1751052780.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:00.373Z,1751052780.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:33:00.376Z,1751052780.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 609.844055 m,
      bearing: 251.398375 deg,
      approach rate: -0.746173 m/s,
      LOS rate: 0.000560 deg/s,
      cmd heading: 249.690652 deg,
      new cmd heading: 249.691416 deg.

2025-06-27T19:33:00.377Z,1751052780.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357937 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:33:00.412Z,1751052780.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527089
2025-06-27T19:33:00.580Z,1751052780.580 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:33:00.663Z,1751052780.663 [DAT](INFO): DAT read: Rx Time:19:32:58.8803

2025-06-27T19:33:00.664Z,1751052780.664 [DAT](INFO): Rx dataTimestamp_ set to:1751052780.663681
2025-06-27T19:33:00.664Z,1751052780.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779841
2025-06-27T19:33:00.752Z,1751052780.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:33:00.758Z,1751052780.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 609.564270 m,
      bearing: 251.398565 deg,
      approach rate: -0.738716 m/s,
      LOS rate: 0.000500 deg/s,
      cmd heading: 249.691417 deg,
      new cmd heading: 249.691985 deg.

2025-06-27T19:33:00.759Z,1751052780.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357947 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:33:00.915Z,1751052780.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030640
2025-06-27T19:33:01.148Z,1751052781.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 606.19 m.
2025-06-27T19:33:01.155Z,1751052781.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 606.188538 m,
      nav range: 609.266479 m,
      bearing: 251.398755 deg,
      approach rate: -0.751088 m/s,
      LOS rate: 0.000481 deg/s,
      cmd heading: 249.691990 deg,
      new cmd heading: 249.692563 deg.

2025-06-27T19:33:01.156Z,1751052781.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357957 target range: 606.188538 and range: 611.70 m.
2025-06-27T19:33:01.173Z,1751052781.173 [DAT](INFO): DAT read: 19:32:58.8803 LVL= 15152, 20049, 13522, 18515, AGC= 69, IDX= 465,-0.01, 0.410,-1.307, 0.381,-0.247, PHS= 0.745,-1.012, 0.625, RAW= 146.5,  -4.3, CAL= 151.4, -13.1, ROT= 358.6,  13.1

2025-06-27T19:33:01.174Z,1751052781.174 [DAT](INFO): got valid direction response:
 19:32:58.8803 LVL= 15152, 20049, 13522, 18515, AGC= 69, IDX= 465,-0.01, 0.410,-1.307, 0.381,-0.247, PHS= 0.745,-1.012, 0.625, RAW= 146.5,  -4.3, CAL= 151.4, -13.1, ROT= 358.6,  13.1

2025-06-27T19:33:01.175Z,1751052781.175 [DAT](INFO): DAT read: Bearing 358.6,  13.1 (Local)

2025-06-27T19:33:01.176Z,1751052781.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  13.1 (Local)

2025-06-27T19:33:01.177Z,1751052781.177 [DAT](INFO): DAT read: Range 10 to 50 : 608.5 m  (Round-trip  811.4 ms) speed  0.8 m/s

2025-06-27T19:33:01.178Z,1751052781.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:01.183Z,1751052781.183 [DAT](INFO): direction in FSK: [0.973685,-0.023796,-0.226651]
2025-06-27T19:33:01.183Z,1751052781.183 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:01.187Z,1751052781.187 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:01.187Z,1751052781.187 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:01.187Z,1751052781.187 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:01.419Z,1751052781.419 [DAT](INFO): DAT read: user:2554>

2025-06-27T19:33:01.421Z,1751052781.421 [DAT](INFO): DAT read: Tx time:19:33:00.2148

2025-06-27T19:33:01.421Z,1751052781.421 [DAT](INFO): Ping request sent.
2025-06-27T19:33:01.421Z,1751052781.421 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:01.422Z,1751052781.422 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:01.423Z,1751052781.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001225
2025-06-27T19:33:01.595Z,1751052781.595 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:33:01.632Z,1751052781.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 608.500000 m,
      deltaT: 4.536131 s,
      deltaX: -3.200012 m,
      approachRate: -0.705450 m/s,
      rangeRepo size: 4

2025-06-27T19:33:01.634Z,1751052781.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 603.009399 m,
      bearing: 249.702105 deg,
      lat: 36.906542 deg,
      lon: -122.116358 deg,
      deltaT: 4.536131 s,
      deltaX: -3.179138 m,
      approachRate: -0.700848 m/s,
      posRepo size: 3

2025-06-27T19:33:01.638Z,1751052781.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:01.641Z,1751052781.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 599.858215 m,
      bearing: 249.997061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000481 deg/s,
      cmd heading: 249.692564 deg,
      new cmd heading: 249.693261 deg.

2025-06-27T19:33:01.642Z,1751052781.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357970 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:01.672Z,1751052781.672 [DAT](INFO): DAT read: TxSync time:19:33:00.2140

2025-06-27T19:33:01.672Z,1751052781.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965
2025-06-27T19:33:01.925Z,1751052781.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502938
2025-06-27T19:33:01.985Z,1751052781.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:01.992Z,1751052781.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 599.540833 m,
      bearing: 249.997161 deg,
      approach rate: -0.895332 m/s,
      LOS rate: 0.000284 deg/s,
      cmd heading: 249.693275 deg,
      new cmd heading: 249.693576 deg.

2025-06-27T19:33:01.994Z,1751052781.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357975 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:02.175Z,1751052782.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753932
2025-06-27T19:33:02.427Z,1751052782.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005942
2025-06-27T19:33:02.475Z,1751052782.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:02.477Z,1751052782.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:02.484Z,1751052782.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 599.177307 m,
      bearing: 249.997418 deg,
      approach rate: -0.739364 m/s,
      LOS rate: 0.000522 deg/s,
      cmd heading: 249.693575 deg,
      new cmd heading: 249.694346 deg.

2025-06-27T19:33:02.485Z,1751052782.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357988 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:02.680Z,1751052782.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259002
2025-06-27T19:33:02.811Z,1751052782.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:02.814Z,1751052782.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 598.917542 m,
      bearing: 249.997644 deg,
      approach rate: -0.777502 m/s,
      LOS rate: 0.000678 deg/s,
      cmd heading: 249.694340 deg,
      new cmd heading: 249.695019 deg.

2025-06-27T19:33:02.819Z,1751052782.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358000 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:02.931Z,1751052782.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510053
2025-06-27T19:33:03.184Z,1751052783.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762525
2025-06-27T19:33:03.202Z,1751052783.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:03.204Z,1751052783.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 598.612427 m,
      bearing: 249.997940 deg,
      approach rate: -0.781540 m/s,
      LOS rate: 0.000757 deg/s,
      cmd heading: 249.695023 deg,
      new cmd heading: 249.695910 deg.

2025-06-27T19:33:03.205Z,1751052783.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358016 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:03.437Z,1751052783.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015426
2025-06-27T19:33:03.623Z,1751052783.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:03.625Z,1751052783.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 598.298828 m,
      bearing: 249.998448 deg,
      approach rate: -0.744998 m/s,
      LOS rate: 0.001209 deg/s,
      cmd heading: 249.695897 deg,
      new cmd heading: 249.697424 deg.

2025-06-27T19:33:03.626Z,1751052783.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358042 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:03.688Z,1751052783.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266111
2025-06-27T19:33:03.939Z,1751052783.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517849
2025-06-27T19:33:04.028Z,1751052784.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:04.035Z,1751052784.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 598.018250 m,
      bearing: 249.998837 deg,
      approach rate: -0.691550 m/s,
      LOS rate: 0.000958 deg/s,
      cmd heading: 249.697427 deg,
      new cmd heading: 249.698594 deg.

2025-06-27T19:33:04.036Z,1751052784.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358063 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:04.191Z,1751052784.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769832
2025-06-27T19:33:04.440Z,1751052784.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:04.443Z,1751052784.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022065
2025-06-27T19:33:04.445Z,1751052784.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 597.693665 m,
      bearing: 249.998630 deg,
      approach rate: -0.787841 m/s,
      LOS rate: -0.000502 deg/s,
      cmd heading: 249.698602 deg,
      new cmd heading: 249.697982 deg.

2025-06-27T19:33:04.446Z,1751052784.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358052 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:04.695Z,1751052784.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273922
2025-06-27T19:33:04.810Z,1751052784.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:04.812Z,1751052784.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:04.820Z,1751052784.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 597.419006 m,
      bearing: 249.998455 deg,
      approach rate: -0.737845 m/s,
      LOS rate: -0.000471 deg/s,
      cmd heading: 249.697974 deg,
      new cmd heading: 249.697448 deg.

2025-06-27T19:33:04.821Z,1751052784.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358043 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:04.948Z,1751052784.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526215
2025-06-27T19:33:05.199Z,1751052785.199 [DAT](INFO): DAT read: Rx Time:19:33:03.4323

2025-06-27T19:33:05.200Z,1751052785.200 [DAT](INFO): Rx dataTimestamp_ set to:1751052785.199688
2025-06-27T19:33:05.200Z,1751052785.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779088
2025-06-27T19:33:05.244Z,1751052785.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:05.259Z,1751052785.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 597.117798 m,
      bearing: 249.998168 deg,
      approach rate: -0.697783 m/s,
      LOS rate: -0.000665 deg/s,
      cmd heading: 249.697455 deg,
      new cmd heading: 249.696594 deg.

2025-06-27T19:33:05.260Z,1751052785.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358027 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:05.451Z,1751052785.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029797
2025-06-27T19:33:05.687Z,1751052785.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 603.01 m.
2025-06-27T19:33:05.690Z,1751052785.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 603.009399 m,
      nav range: 596.778992 m,
      bearing: 249.997105 deg,
      approach rate: -0.764964 m/s,
      LOS rate: -0.002402 deg/s,
      cmd heading: 249.696580 deg,
      new cmd heading: 249.693389 deg.

2025-06-27T19:33:05.695Z,1751052785.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357972 target range: 603.009399 and range: 608.50 m.
2025-06-27T19:33:05.709Z,1751052785.709 [DAT](INFO): DAT read: 19:33:03.4323 LVL= 31824, 26945, 30802, 32755, AGC= 73, IDX= 469,-0.32,-1.196,-2.664,-1.277,-1.725, PHS= 0.616,-0.892, 0.445, RAW= 144.0,  -2.4, CAL= 148.7, -11.5, ROT=   1.3,  11.5

2025-06-27T19:33:05.710Z,1751052785.710 [DAT](INFO): got valid direction response:
 19:33:03.4323 LVL= 31824, 26945, 30802, 32755, AGC= 73, IDX= 469,-0.32,-1.196,-2.664,-1.277,-1.725, PHS= 0.616,-0.892, 0.445, RAW= 144.0,  -2.4, CAL= 148.7, -11.5, ROT=   1.3,  11.5

2025-06-27T19:33:05.711Z,1751052785.711 [DAT](INFO): DAT read: Bearing   1.3,  11.5 (Local)

2025-06-27T19:33:05.711Z,1751052785.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  11.5 (Local)

2025-06-27T19:33:05.713Z,1751052785.713 [DAT](INFO): DAT read: Range 10 to 50 : 609.9 m  (Round-trip  813.3 ms) speed  0.8 m/s

2025-06-27T19:33:05.713Z,1751052785.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:05.715Z,1751052785.715 [DAT](INFO): direction in FSK: [0.979672,0.022232,-0.199368]
2025-06-27T19:33:05.715Z,1751052785.715 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:05.718Z,1751052785.718 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:05.718Z,1751052785.718 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:05.724Z,1751052785.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:05.955Z,1751052785.955 [DAT](INFO): DAT read: user:2555>

2025-06-27T19:33:05.956Z,1751052785.956 [DAT](INFO): DAT read: Tx time:19:33:04.7648

2025-06-27T19:33:05.956Z,1751052785.956 [DAT](INFO): Ping request sent.
2025-06-27T19:33:05.957Z,1751052785.957 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:05.957Z,1751052785.957 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:05.957Z,1751052785.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-06-27T19:33:06.097Z,1751052786.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 609.900024 m,
      deltaT: 4.535928 s,
      deltaX: 1.400024 m,
      approachRate: 0.308652 m/s,
      rangeRepo size: 4

2025-06-27T19:33:06.103Z,1751052786.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 604.398621 m,
      bearing: 252.551936 deg,
      lat: 36.906542 deg,
      lon: -122.116358 deg,
      deltaT: 4.535928 s,
      deltaX: 1.389221 m,
      approachRate: 0.306271 m/s,
      posRepo size: 4

2025-06-27T19:33:06.104Z,1751052786.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:06.110Z,1751052786.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 596.484863 m,
      bearing: 249.996161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002402 deg/s,
      cmd heading: 249.693384 deg,
      new cmd heading: 249.690437 deg.

2025-06-27T19:33:06.111Z,1751052786.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357920 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:06.208Z,1751052786.208 [DAT](INFO): DAT read: TxSync time:19:33:04.7640

2025-06-27T19:33:06.208Z,1751052786.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251820
2025-06-27T19:33:06.459Z,1751052786.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502537
2025-06-27T19:33:06.503Z,1751052786.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:06.505Z,1751052786.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 596.170105 m,
      bearing: 249.994026 deg,
      approach rate: -0.774454 m/s,
      LOS rate: -0.005257 deg/s,
      cmd heading: 249.690433 deg,
      new cmd heading: 249.684023 deg.

2025-06-27T19:33:06.506Z,1751052786.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357808 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:06.715Z,1751052786.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758056
2025-06-27T19:33:06.814Z,1751052786.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:06.816Z,1751052786.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:06.846Z,1751052786.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 595.938660 m,
      bearing: 249.992523 deg,
      approach rate: -0.738190 m/s,
      LOS rate: -0.004796 deg/s,
      cmd heading: 249.684013 deg,
      new cmd heading: 249.679502 deg.

2025-06-27T19:33:06.847Z,1751052786.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357729 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:06.964Z,1751052786.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007103
2025-06-27T19:33:07.215Z,1751052787.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258788
2025-06-27T19:33:07.243Z,1751052787.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:07.245Z,1751052787.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 595.640198 m,
      bearing: 249.990607 deg,
      approach rate: -0.706757 m/s,
      LOS rate: -0.004539 deg/s,
      cmd heading: 249.679505 deg,
      new cmd heading: 249.673754 deg.

2025-06-27T19:33:07.251Z,1751052787.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357629 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:07.467Z,1751052787.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510746
2025-06-27T19:33:07.663Z,1751052787.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:07.665Z,1751052787.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 595.310913 m,
      bearing: 249.987596 deg,
      approach rate: -0.776490 m/s,
      LOS rate: -0.007103 deg/s,
      cmd heading: 249.673740 deg,
      new cmd heading: 249.664704 deg.

2025-06-27T19:33:07.666Z,1751052787.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357471 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:07.720Z,1751052787.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762923
2025-06-27T19:33:07.971Z,1751052787.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014687
2025-06-27T19:33:08.044Z,1751052788.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:08.048Z,1751052788.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 595.027466 m,
      bearing: 249.984955 deg,
      approach rate: -0.743392 m/s,
      LOS rate: -0.006929 deg/s,
      cmd heading: 249.664697 deg,
      new cmd heading: 249.656771 deg.

2025-06-27T19:33:08.049Z,1751052788.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357333 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:08.223Z,1751052788.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266725
2025-06-27T19:33:08.475Z,1751052788.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518779
2025-06-27T19:33:08.489Z,1751052788.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:08.492Z,1751052788.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 594.691467 m,
      bearing: 249.981554 deg,
      approach rate: -0.754887 m/s,
      LOS rate: -0.007646 deg/s,
      cmd heading: 249.656774 deg,
      new cmd heading: 249.646565 deg.

2025-06-27T19:33:08.493Z,1751052788.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357154 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:08.727Z,1751052788.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770657
2025-06-27T19:33:08.849Z,1751052788.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:08.857Z,1751052788.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:08.872Z,1751052788.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 594.429810 m,
      bearing: 249.978878 deg,
      approach rate: -0.709605 m/s,
      LOS rate: -0.007260 deg/s,
      cmd heading: 249.646556 deg,
      new cmd heading: 249.638525 deg.

2025-06-27T19:33:08.873Z,1751052788.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357014 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:08.980Z,1751052788.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023499
2025-06-27T19:33:09.231Z,1751052789.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274792
2025-06-27T19:33:09.241Z,1751052789.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:09.244Z,1751052789.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 594.123352 m,
      bearing: 249.975721 deg,
      approach rate: -0.798543 m/s,
      LOS rate: -0.008231 deg/s,
      cmd heading: 249.638524 deg,
      new cmd heading: 249.629048 deg.

2025-06-27T19:33:09.245Z,1751052789.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356849 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:09.484Z,1751052789.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527138
2025-06-27T19:33:09.670Z,1751052789.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:09.673Z,1751052789.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 593.807129 m,
      bearing: 249.972519 deg,
      approach rate: -0.737566 m/s,
      LOS rate: -0.007473 deg/s,
      cmd heading: 249.629043 deg,
      new cmd heading: 249.619431 deg.

2025-06-27T19:33:09.674Z,1751052789.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356681 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:09.738Z,1751052789.738 [DAT](INFO): DAT read: Rx Time:19:33:07.9779

2025-06-27T19:33:09.738Z,1751052789.738 [DAT](INFO): Rx dataTimestamp_ set to:1751052789.738052
2025-06-27T19:33:09.739Z,1751052789.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782359
2025-06-27T19:33:09.987Z,1751052789.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030686
2025-06-27T19:33:10.131Z,1751052790.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 604.40 m.
2025-06-27T19:33:10.134Z,1751052790.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 604.398621 m,
      nav range: 593.515564 m,
      bearing: 249.969532 deg,
      approach rate: -0.631912 m/s,
      LOS rate: -0.006476 deg/s,
      cmd heading: 249.619427 deg,
      new cmd heading: 249.610463 deg.

2025-06-27T19:33:10.139Z,1751052790.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356524 target range: 604.398621 and range: 609.90 m.
2025-06-27T19:33:10.246Z,1751052790.246 [DAT](INFO): DAT read: 19:33:07.9779 LVL= 25072, 27377, 26802, 32755, AGC= 70, IDX= 391,-0.23, 0.991,-0.418, 0.967, 0.355, PHS= 0.724,-0.726, 0.608, RAW= 145.9,  -8.7, CAL= 152.2, -17.5, ROT= 357.8,  17.5

2025-06-27T19:33:10.247Z,1751052790.247 [DAT](INFO): got valid direction response:
 19:33:07.9779 LVL= 25072, 27377, 26802, 32755, AGC= 70, IDX= 391,-0.23, 0.991,-0.418, 0.967, 0.355, PHS= 0.724,-0.726, 0.608, RAW= 145.9,  -8.7, CAL= 152.2, -17.5, ROT= 357.8,  17.5

2025-06-27T19:33:10.248Z,1751052790.248 [DAT](INFO): DAT read: Bearing 357.8,  17.5 (Local)

2025-06-27T19:33:10.249Z,1751052790.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  17.5 (Local)

2025-06-27T19:33:10.250Z,1751052790.250 [DAT](INFO): DAT read: Range 10 to 50 : 606.6 m  (Round-trip  808.8 ms) speed  0.6 m/s

2025-06-27T19:33:10.252Z,1751052790.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:10.253Z,1751052790.253 [DAT](INFO): direction in FSK: [0.953014,-0.036611,-0.300706]
2025-06-27T19:33:10.253Z,1751052790.253 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:10.264Z,1751052790.264 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:10.264Z,1751052790.264 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:10.264Z,1751052790.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:10.491Z,1751052790.491 [DAT](INFO): DAT read: user:2556>

2025-06-27T19:33:10.492Z,1751052790.492 [DAT](INFO): DAT read: Tx time:19:33:09.3149

2025-06-27T19:33:10.492Z,1751052790.492 [DAT](INFO): Ping request sent.
2025-06-27T19:33:10.493Z,1751052790.493 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:10.493Z,1751052790.493 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:10.493Z,1751052790.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-06-27T19:33:10.564Z,1751052790.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 606.599976 m,
      deltaT: 4.536334 s,
      deltaX: -3.300049 m,
      approachRate: -0.727470 m/s,
      rangeRepo size: 4

2025-06-27T19:33:10.570Z,1751052790.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 601.125305 m,
      bearing: 249.668763 deg,
      lat: 36.906569 deg,
      lon: -122.116260 deg,
      deltaT: 4.536334 s,
      deltaX: -3.273315 m,
      approachRate: -0.721577 m/s,
      posRepo size: 4

2025-06-27T19:33:10.571Z,1751052790.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:10.574Z,1751052790.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 584.033264 m,
      bearing: 249.950763 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006476 deg/s,
      cmd heading: 249.610465 deg,
      new cmd heading: 249.602942 deg.

2025-06-27T19:33:10.579Z,1751052790.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356393 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:10.744Z,1751052790.744 [DAT](INFO): DAT read: TxSync time:19:33:09.3141

2025-06-27T19:33:10.744Z,1751052790.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251715
2025-06-27T19:33:10.858Z,1751052790.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:10.883Z,1751052790.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:10.886Z,1751052790.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 583.778076 m,
      bearing: 249.948330 deg,
      approach rate: -0.700164 m/s,
      LOS rate: -0.006677 deg/s,
      cmd heading: 249.602952 deg,
      new cmd heading: 249.595652 deg.

2025-06-27T19:33:10.892Z,1751052790.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356266 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:10.996Z,1751052790.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503182
2025-06-27T19:33:11.247Z,1751052791.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754852
2025-06-27T19:33:11.291Z,1751052791.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:11.294Z,1751052791.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 583.479004 m,
      bearing: 249.945572 deg,
      approach rate: -0.734042 m/s,
      LOS rate: -0.006773 deg/s,
      cmd heading: 249.595657 deg,
      new cmd heading: 249.587379 deg.

2025-06-27T19:33:11.296Z,1751052791.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356122 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:11.500Z,1751052791.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007814
2025-06-27T19:33:11.711Z,1751052791.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:11.713Z,1751052791.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 583.154968 m,
      bearing: 249.943437 deg,
      approach rate: -0.771653 m/s,
      LOS rate: -0.005088 deg/s,
      cmd heading: 249.587379 deg,
      new cmd heading: 249.580969 deg.

2025-06-27T19:33:11.714Z,1751052791.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356009 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:11.753Z,1751052791.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260140
2025-06-27T19:33:12.004Z,1751052792.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511422
2025-06-27T19:33:12.090Z,1751052792.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:12.093Z,1751052792.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 582.879211 m,
      bearing: 249.941637 deg,
      approach rate: -0.726619 m/s,
      LOS rate: -0.004743 deg/s,
      cmd heading: 249.580959 deg,
      new cmd heading: 249.575558 deg.

2025-06-27T19:33:12.094Z,1751052792.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355915 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:12.255Z,1751052792.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762698
2025-06-27T19:33:12.507Z,1751052792.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864
2025-06-27T19:33:12.556Z,1751052792.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:12.560Z,1751052792.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 582.545227 m,
      bearing: 249.939380 deg,
      approach rate: -0.716572 m/s,
      LOS rate: -0.004845 deg/s,
      cmd heading: 249.575549 deg,
      new cmd heading: 249.568775 deg.

2025-06-27T19:33:12.561Z,1751052792.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355797 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:12.760Z,1751052792.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267592
2025-06-27T19:33:12.888Z,1751052792.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:12.891Z,1751052792.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:12.893Z,1751052792.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 582.286377 m,
      bearing: 249.937614 deg,
      approach rate: -0.774205 m/s,
      LOS rate: -0.005285 deg/s,
      cmd heading: 249.568774 deg,
      new cmd heading: 249.563472 deg.

2025-06-27T19:33:12.896Z,1751052792.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355704 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:13.012Z,1751052793.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519137
2025-06-27T19:33:13.263Z,1751052793.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770700
2025-06-27T19:33:13.285Z,1751052793.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:13.302Z,1751052793.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 581.994568 m,
      bearing: 249.935625 deg,
      approach rate: -0.740170 m/s,
      LOS rate: -0.005048 deg/s,
      cmd heading: 249.563474 deg,
      new cmd heading: 249.557503 deg.

2025-06-27T19:33:13.307Z,1751052793.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355600 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:13.518Z,1751052793.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025240
2025-06-27T19:33:13.731Z,1751052793.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:13.734Z,1751052793.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 581.683289 m,
      bearing: 249.933434 deg,
      approach rate: -0.697273 m/s,
      LOS rate: -0.004910 deg/s,
      cmd heading: 249.557490 deg,
      new cmd heading: 249.550914 deg.

2025-06-27T19:33:13.739Z,1751052793.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355485 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:13.769Z,1751052793.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276858
2025-06-27T19:33:14.020Z,1751052794.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527189
2025-06-27T19:33:14.150Z,1751052794.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:14.153Z,1751052794.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 581.377075 m,
      bearing: 249.931277 deg,
      approach rate: -0.730354 m/s,
      LOS rate: -0.005148 deg/s,
      cmd heading: 249.550906 deg,
      new cmd heading: 249.544431 deg.

2025-06-27T19:33:14.154Z,1751052794.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355372 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:14.272Z,1751052794.272 [DAT](INFO): DAT read: Rx Time:19:33:12.5166

2025-06-27T19:33:14.272Z,1751052794.272 [DAT](INFO): Rx dataTimestamp_ set to:1751052794.271876
2025-06-27T19:33:14.273Z,1751052794.273 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-27T19:33:14.273Z,1751052794.273 [DAT](INFO): Received low SNR in chirp
2025-06-27T19:33:14.287Z,1751052794.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794060
2025-06-27T19:33:14.526Z,1751052794.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032742
2025-06-27T19:33:14.581Z,1751052794.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:14.584Z,1751052794.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 581.039795 m,
      bearing: 249.928604 deg,
      approach rate: -0.782310 m/s,
      LOS rate: -0.006204 deg/s,
      cmd heading: 249.544431 deg,
      new cmd heading: 249.536407 deg.

2025-06-27T19:33:14.585Z,1751052794.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355232 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:14.775Z,1751052794.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282903
2025-06-27T19:33:14.900Z,1751052794.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:14.902Z,1751052794.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:14.905Z,1751052794.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 580.800537 m,
      bearing: 249.926742 deg,
      approach rate: -0.745849 m/s,
      LOS rate: -0.005806 deg/s,
      cmd heading: 249.536399 deg,
      new cmd heading: 249.530811 deg.

2025-06-27T19:33:14.906Z,1751052794.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355134 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:15.028Z,1751052795.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535000
2025-06-27T19:33:15.279Z,1751052795.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786814
2025-06-27T19:33:15.305Z,1751052795.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:15.307Z,1751052795.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 580.499634 m,
      bearing: 249.924448 deg,
      approach rate: -0.747900 m/s,
      LOS rate: -0.005705 deg/s,
      cmd heading: 249.530798 deg,
      new cmd heading: 249.523912 deg.

2025-06-27T19:33:15.308Z,1751052795.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355014 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:15.534Z,1751052795.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040801
2025-06-27T19:33:15.737Z,1751052795.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:15.742Z,1751052795.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 580.168396 m,
      bearing: 249.921426 deg,
      approach rate: -0.766848 m/s,
      LOS rate: -0.007000 deg/s,
      cmd heading: 249.523913 deg,
      new cmd heading: 249.514843 deg.

2025-06-27T19:33:15.743Z,1751052795.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354856 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:15.784Z,1751052795.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291576
2025-06-27T19:33:16.035Z,1751052796.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542707
2025-06-27T19:33:16.120Z,1751052796.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:16.127Z,1751052796.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 579.874268 m,
      bearing: 249.918820 deg,
      approach rate: -0.767184 m/s,
      LOS rate: -0.006799 deg/s,
      cmd heading: 249.514843 deg,
      new cmd heading: 249.507022 deg.

2025-06-27T19:33:16.128Z,1751052796.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354719 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:16.287Z,1751052796.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794813
2025-06-27T19:33:16.542Z,1751052796.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048783
2025-06-27T19:33:16.635Z,1751052796.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:16.638Z,1751052796.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 579.484924 m,
      bearing: 249.915479 deg,
      approach rate: -0.755383 m/s,
      LOS rate: -0.006487 deg/s,
      cmd heading: 249.507029 deg,
      new cmd heading: 249.496998 deg.

2025-06-27T19:33:16.647Z,1751052796.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354544 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:16.791Z,1751052796.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298691
2025-06-27T19:33:16.977Z,1751052796.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:16.983Z,1751052796.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:16.986Z,1751052796.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 579.227783 m,
      bearing: 249.913550 deg,
      approach rate: -0.738960 m/s,
      LOS rate: -0.005545 deg/s,
      cmd heading: 249.497002 deg,
      new cmd heading: 249.491214 deg.

2025-06-27T19:33:16.993Z,1751052796.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354443 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:17.044Z,1751052797.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551276
2025-06-27T19:33:17.295Z,1751052797.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802795
2025-06-27T19:33:17.369Z,1751052797.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:17.372Z,1751052797.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 578.912354 m,
      bearing: 249.911266 deg,
      approach rate: -0.818382 m/s,
      LOS rate: -0.005929 deg/s,
      cmd heading: 249.491210 deg,
      new cmd heading: 249.484355 deg.

2025-06-27T19:33:17.373Z,1751052797.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354323 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:17.550Z,1751052797.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056817
2025-06-27T19:33:17.789Z,1751052797.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:17.796Z,1751052797.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 578.596680 m,
      bearing: 249.909394 deg,
      approach rate: -0.751937 m/s,
      LOS rate: -0.004464 deg/s,
      cmd heading: 249.484353 deg,
      new cmd heading: 249.478731 deg.

2025-06-27T19:33:17.796Z,1751052797.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354225 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:17.799Z,1751052797.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306791
2025-06-27T19:33:18.051Z,1751052798.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558799
2025-06-27T19:33:18.245Z,1751052798.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:18.248Z,1751052798.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 578.221741 m,
      bearing: 249.907166 deg,
      approach rate: -0.820744 m/s,
      LOS rate: -0.004879 deg/s,
      cmd heading: 249.478725 deg,
      new cmd heading: 249.472038 deg.

2025-06-27T19:33:18.249Z,1751052798.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354108 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:18.304Z,1751052798.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810948
2025-06-27T19:33:18.559Z,1751052798.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065185
2025-06-27T19:33:18.678Z,1751052798.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:18.685Z,1751052798.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 577.898682 m,
      bearing: 249.906307 deg,
      approach rate: -0.746735 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 249.472031 deg,
      new cmd heading: 249.469453 deg.

2025-06-27T19:33:18.686Z,1751052798.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354064 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:18.807Z,1751052798.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314722
2025-06-27T19:33:19.000Z,1751052799.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:19.024Z,1751052799.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:19.033Z,1751052799.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 577.645081 m,
      bearing: 249.905632 deg,
      approach rate: -0.734069 m/s,
      LOS rate: -0.001954 deg/s,
      cmd heading: 249.469463 deg,
      new cmd heading: 249.467437 deg.

2025-06-27T19:33:19.060Z,1751052799.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566927
2025-06-27T19:33:19.060Z,1751052799.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354028 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:19.311Z,1751052799.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818725
2025-06-27T19:33:19.410Z,1751052799.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:19.413Z,1751052799.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 577.341797 m,
      bearing: 249.904860 deg,
      approach rate: -0.784711 m/s,
      LOS rate: -0.001998 deg/s,
      cmd heading: 249.467441 deg,
      new cmd heading: 249.465124 deg.

2025-06-27T19:33:19.414Z,1751052799.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353988 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:19.566Z,1751052799.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072933
2025-06-27T19:33:19.815Z,1751052799.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322691
2025-06-27T19:33:19.828Z,1751052799.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:19.831Z,1751052799.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 577.006042 m,
      bearing: 249.904678 deg,
      approach rate: -0.803519 m/s,
      LOS rate: -0.000436 deg/s,
      cmd heading: 249.465119 deg,
      new cmd heading: 249.464572 deg.

2025-06-27T19:33:19.832Z,1751052799.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353978 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:20.067Z,1751052800.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574786
2025-06-27T19:33:20.215Z,1751052800.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:20.217Z,1751052800.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 576.734131 m,
      bearing: 249.904457 deg,
      approach rate: -0.710252 m/s,
      LOS rate: -0.000578 deg/s,
      cmd heading: 249.464572 deg,
      new cmd heading: 249.463909 deg.

2025-06-27T19:33:20.218Z,1751052800.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353967 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:20.320Z,1751052800.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827671
2025-06-27T19:33:20.573Z,1751052800.573 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:20.573Z,1751052800.573 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:20.575Z,1751052800.575 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:20.686Z,1751052800.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:20.689Z,1751052800.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 576.350220 m,
      bearing: 249.905442 deg,
      approach rate: -0.807724 m/s,
      LOS rate: 0.002073 deg/s,
      cmd heading: 249.463917 deg,
      new cmd heading: 249.466873 deg.

2025-06-27T19:33:20.690Z,1751052800.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354018 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:20.823Z,1751052800.823 [DAT](INFO): DAT read: 

2025-06-27T19:33:20.823Z,1751052800.823 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:20.824Z,1751052800.824 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:20.824Z,1751052800.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:21.004Z,1751052801.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:21.007Z,1751052801.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:21.012Z,1751052801.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 576.107544 m,
      bearing: 249.906065 deg,
      approach rate: -0.755827 m/s,
      LOS rate: 0.001941 deg/s,
      cmd heading: 249.466867 deg,
      new cmd heading: 249.468737 deg.

2025-06-27T19:33:21.013Z,1751052801.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354051 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:21.076Z,1751052801.076 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:21.076Z,1751052801.076 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:21.077Z,1751052801.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:21.327Z,1751052801.327 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:33:21.328Z,1751052801.328 [DAT](INFO): response not received
2025-06-27T19:33:21.328Z,1751052801.328 [DAT](INFO): DAT read: user:2558>

2025-06-27T19:33:21.329Z,1751052801.329 [DAT](INFO): DAT read: Tx time:19:33:20.2649

2025-06-27T19:33:21.329Z,1751052801.329 [DAT](INFO): Ping request sent.
2025-06-27T19:33:21.329Z,1751052801.329 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:21.329Z,1751052801.329 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:21.330Z,1751052801.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-06-27T19:33:21.448Z,1751052801.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:21.460Z,1751052801.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 575.780334 m,
      bearing: 249.906807 deg,
      approach rate: -0.741298 m/s,
      LOS rate: 0.001682 deg/s,
      cmd heading: 249.468725 deg,
      new cmd heading: 249.470953 deg.

2025-06-27T19:33:21.461Z,1751052801.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354090 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:21.582Z,1751052801.582 [DAT](INFO): DAT read: TxSync time:19:33:20.2642

2025-06-27T19:33:21.584Z,1751052801.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254840
2025-06-27T19:33:21.812Z,1751052801.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:21.815Z,1751052801.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 575.484741 m,
      bearing: 249.907706 deg,
      approach rate: -0.813661 m/s,
      LOS rate: 0.002477 deg/s,
      cmd heading: 249.470966 deg,
      new cmd heading: 249.473666 deg.

2025-06-27T19:33:21.816Z,1751052801.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354137 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:21.831Z,1751052801.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502089
2025-06-27T19:33:22.084Z,1751052802.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753
2025-06-27T19:33:22.255Z,1751052802.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:22.257Z,1751052802.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 575.167664 m,
      bearing: 249.908692 deg,
      approach rate: -0.754751 m/s,
      LOS rate: 0.002347 deg/s,
      cmd heading: 249.473670 deg,
      new cmd heading: 249.476628 deg.

2025-06-27T19:33:22.262Z,1751052802.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354188 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:22.335Z,1751052802.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006184
2025-06-27T19:33:22.590Z,1751052802.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260050
2025-06-27T19:33:22.681Z,1751052802.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:22.685Z,1751052802.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 574.817261 m,
      bearing: 249.909788 deg,
      approach rate: -0.779303 m/s,
      LOS rate: 0.002440 deg/s,
      cmd heading: 249.476621 deg,
      new cmd heading: 249.479912 deg.

2025-06-27T19:33:22.686Z,1751052802.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354246 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:22.839Z,1751052802.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509972
2025-06-27T19:33:23.040Z,1751052803.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:23.042Z,1751052803.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:23.045Z,1751052803.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 574.535278 m,
      bearing: 249.909673 deg,
      approach rate: -0.782311 m/s,
      LOS rate: -0.000320 deg/s,
      cmd heading: 249.479899 deg,
      new cmd heading: 249.479554 deg.

2025-06-27T19:33:23.046Z,1751052803.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354239 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:23.091Z,1751052803.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762115
2025-06-27T19:33:23.345Z,1751052803.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015821
2025-06-27T19:33:23.436Z,1751052803.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:23.439Z,1751052803.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 574.233032 m,
      bearing: 249.909522 deg,
      approach rate: -0.767313 m/s,
      LOS rate: -0.000382 deg/s,
      cmd heading: 249.479544 deg,
      new cmd heading: 249.479093 deg.

2025-06-27T19:33:23.440Z,1751052803.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354231 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:23.597Z,1751052803.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268153
2025-06-27T19:33:23.832Z,1751052803.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:23.835Z,1751052803.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 573.924561 m,
      bearing: 249.908312 deg,
      approach rate: -0.778291 m/s,
      LOS rate: -0.003055 deg/s,
      cmd heading: 249.479080 deg,
      new cmd heading: 249.475447 deg.

2025-06-27T19:33:23.836Z,1751052803.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354168 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:23.847Z,1751052803.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517972
2025-06-27T19:33:24.105Z,1751052804.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775264
2025-06-27T19:33:24.277Z,1751052804.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:24.280Z,1751052804.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 573.593445 m,
      bearing: 249.907007 deg,
      approach rate: -0.743631 m/s,
      LOS rate: -0.002932 deg/s,
      cmd heading: 249.475446 deg,
      new cmd heading: 249.471529 deg.

2025-06-27T19:33:24.281Z,1751052804.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354100 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:24.353Z,1751052804.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023510
2025-06-27T19:33:24.603Z,1751052804.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274029
2025-06-27T19:33:24.734Z,1751052804.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:24.737Z,1751052804.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 573.220398 m,
      bearing: 249.904671 deg,
      approach rate: -0.816746 m/s,
      LOS rate: -0.005118 deg/s,
      cmd heading: 249.471539 deg,
      new cmd heading: 249.464527 deg.

2025-06-27T19:33:24.738Z,1751052804.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353977 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:24.856Z,1751052804.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527040
2025-06-27T19:33:25.108Z,1751052805.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778436
2025-06-27T19:33:25.196Z,1751052805.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:25.203Z,1751052805.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:25.205Z,1751052805.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 572.863342 m,
      bearing: 249.902433 deg,
      approach rate: -0.768857 m/s,
      LOS rate: -0.004823 deg/s,
      cmd heading: 249.464518 deg,
      new cmd heading: 249.457799 deg.

2025-06-27T19:33:25.210Z,1751052805.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353860 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:25.360Z,1751052805.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030442
2025-06-27T19:33:25.563Z,1751052805.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:25.565Z,1751052805.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 572.581421 m,
      bearing: 249.900722 deg,
      approach rate: -0.774635 m/s,
      LOS rate: -0.004704 deg/s,
      cmd heading: 249.457797 deg,
      new cmd heading: 249.452661 deg.

2025-06-27T19:33:25.577Z,1751052805.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353770 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:25.612Z,1751052805.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282350
2025-06-27T19:33:25.863Z,1751052805.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534046
2025-06-27T19:33:26.001Z,1751052806.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:26.005Z,1751052806.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 572.236877 m,
      bearing: 249.897832 deg,
      approach rate: -0.786593 m/s,
      LOS rate: -0.006603 deg/s,
      cmd heading: 249.452661 deg,
      new cmd heading: 249.443984 deg.

2025-06-27T19:33:26.007Z,1751052806.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353619 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:26.116Z,1751052806.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786708
2025-06-27T19:33:26.367Z,1751052806.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038123
2025-06-27T19:33:26.379Z,1751052806.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:26.382Z,1751052806.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 571.939392 m,
      bearing: 249.895333 deg,
      approach rate: -0.785577 m/s,
      LOS rate: -0.006602 deg/s,
      cmd heading: 249.443973 deg,
      new cmd heading: 249.436473 deg.

2025-06-27T19:33:26.383Z,1751052806.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353487 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:26.620Z,1751052806.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290891
2025-06-27T19:33:26.816Z,1751052806.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:26.824Z,1751052806.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 571.622131 m,
      bearing: 249.892637 deg,
      approach rate: -0.725785 m/s,
      LOS rate: -0.006172 deg/s,
      cmd heading: 249.436459 deg,
      new cmd heading: 249.428366 deg.

2025-06-27T19:33:26.825Z,1751052806.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353346 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:26.872Z,1751052806.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542625
2025-06-27T19:33:27.123Z,1751052807.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794043
2025-06-27T19:33:27.177Z,1751052807.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:27.180Z,1751052807.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 571.335022 m,
      bearing: 249.890238 deg,
      approach rate: -0.795365 m/s,
      LOS rate: -0.006649 deg/s,
      cmd heading: 249.428372 deg,
      new cmd heading: 249.421172 deg.

2025-06-27T19:33:27.181Z,1751052807.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353220 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:27.375Z,1751052807.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046081
2025-06-27T19:33:27.576Z,1751052807.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:27.579Z,1751052807.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:27.581Z,1751052807.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 571.027100 m,
      bearing: 249.887697 deg,
      approach rate: -0.767415 m/s,
      LOS rate: -0.006337 deg/s,
      cmd heading: 249.421160 deg,
      new cmd heading: 249.413532 deg.

2025-06-27T19:33:27.583Z,1751052807.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353087 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:27.627Z,1751052807.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298186
2025-06-27T19:33:27.880Z,1751052807.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550467
2025-06-27T19:33:28.027Z,1751052808.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:28.034Z,1751052808.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 570.716858 m,
      bearing: 249.885664 deg,
      approach rate: -0.691118 m/s,
      LOS rate: -0.004530 deg/s,
      cmd heading: 249.413537 deg,
      new cmd heading: 249.407437 deg.

2025-06-27T19:33:28.035Z,1751052808.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352981 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:28.132Z,1751052808.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802877
2025-06-27T19:33:28.383Z,1751052808.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054153
2025-06-27T19:33:28.394Z,1751052808.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:28.396Z,1751052808.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 570.431885 m,
      bearing: 249.883815 deg,
      approach rate: -0.778456 m/s,
      LOS rate: -0.005054 deg/s,
      cmd heading: 249.407445 deg,
      new cmd heading: 249.401894 deg.

2025-06-27T19:33:28.397Z,1751052808.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352884 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:28.635Z,1751052808.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306081
2025-06-27T19:33:28.802Z,1751052808.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:28.806Z,1751052808.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 570.134949 m,
      bearing: 249.882150 deg,
      approach rate: -0.727004 m/s,
      LOS rate: -0.004079 deg/s,
      cmd heading: 249.401899 deg,
      new cmd heading: 249.396901 deg.

2025-06-27T19:33:28.807Z,1751052808.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352797 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:28.888Z,1751052808.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559165
2025-06-27T19:33:29.139Z,1751052809.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810163
2025-06-27T19:33:29.207Z,1751052809.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:29.210Z,1751052809.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 569.841187 m,
      bearing: 249.880495 deg,
      approach rate: -0.725412 m/s,
      LOS rate: -0.004089 deg/s,
      cmd heading: 249.396899 deg,
      new cmd heading: 249.391931 deg.

2025-06-27T19:33:29.211Z,1751052809.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352710 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:29.392Z,1751052809.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062291
2025-06-27T19:33:29.589Z,1751052809.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:29.592Z,1751052809.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:29.594Z,1751052809.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 569.562378 m,
      bearing: 249.878924 deg,
      approach rate: -0.724905 m/s,
      LOS rate: -0.004085 deg/s,
      cmd heading: 249.391927 deg,
      new cmd heading: 249.387213 deg.

2025-06-27T19:33:29.595Z,1751052809.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352628 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:29.644Z,1751052809.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314254
2025-06-27T19:33:29.895Z,1751052809.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566021
2025-06-27T19:33:30.039Z,1751052810.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:30.042Z,1751052810.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 569.238831 m,
      bearing: 249.877598 deg,
      approach rate: -0.723643 m/s,
      LOS rate: -0.002967 deg/s,
      cmd heading: 249.387200 deg,
      new cmd heading: 249.383220 deg.

2025-06-27T19:33:30.043Z,1751052810.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352558 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:30.148Z,1751052810.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818592
2025-06-27T19:33:30.399Z,1751052810.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070152
2025-06-27T19:33:30.411Z,1751052810.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:30.416Z,1751052810.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 568.969666 m,
      bearing: 249.876481 deg,
      approach rate: -0.722837 m/s,
      LOS rate: -0.003001 deg/s,
      cmd heading: 249.383211 deg,
      new cmd heading: 249.379859 deg.

2025-06-27T19:33:30.420Z,1751052810.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352499 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:30.651Z,1751052810.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322072
2025-06-27T19:33:30.847Z,1751052810.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:30.850Z,1751052810.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 568.667542 m,
      bearing: 249.875272 deg,
      approach rate: -0.692465 m/s,
      LOS rate: -0.002774 deg/s,
      cmd heading: 249.379851 deg,
      new cmd heading: 249.376220 deg.

2025-06-27T19:33:30.855Z,1751052810.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352436 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:30.904Z,1751052810.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574972
2025-06-27T19:33:31.155Z,1751052811.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826074
2025-06-27T19:33:31.315Z,1751052811.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:31.318Z,1751052811.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 568.313599 m,
      bearing: 249.873826 deg,
      approach rate: -0.756891 m/s,
      LOS rate: -0.003095 deg/s,
      cmd heading: 249.376217 deg,
      new cmd heading: 249.371876 deg.

2025-06-27T19:33:31.319Z,1751052811.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352360 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:31.407Z,1751052811.407 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:31.407Z,1751052811.407 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:31.408Z,1751052811.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:31.659Z,1751052811.659 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:31.659Z,1751052811.659 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:31.660Z,1751052811.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:31.676Z,1751052811.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:31.683Z,1751052811.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:31.685Z,1751052811.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 568.061340 m,
      bearing: 249.872794 deg,
      approach rate: -0.693721 m/s,
      LOS rate: -0.002839 deg/s,
      cmd heading: 249.371873 deg,
      new cmd heading: 249.368776 deg.

2025-06-27T19:33:31.691Z,1751052811.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352306 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:31.727Z,1751052811.727 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:33:31.912Z,1751052811.912 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:31.912Z,1751052811.912 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:31.912Z,1751052811.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:32.066Z,1751052812.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:32.069Z,1751052812.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 567.760376 m,
      bearing: 249.871254 deg,
      approach rate: -0.776518 m/s,
      LOS rate: -0.003973 deg/s,
      cmd heading: 249.368786 deg,
      new cmd heading: 249.364166 deg.

2025-06-27T19:33:32.070Z,1751052812.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352226 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:32.164Z,1751052812.164 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:32.165Z,1751052812.165 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:32.165Z,1751052812.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:32.416Z,1751052812.416 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:33:32.416Z,1751052812.416 [DAT](INFO): response not received
2025-06-27T19:33:32.416Z,1751052812.416 [DAT](INFO): DAT read: user:2559>

2025-06-27T19:33:32.417Z,1751052812.417 [DAT](INFO): DAT read: Tx time:19:33:31.2150

2025-06-27T19:33:32.417Z,1751052812.417 [DAT](INFO): Ping request sent.
2025-06-27T19:33:32.417Z,1751052812.417 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:32.417Z,1751052812.417 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:32.418Z,1751052812.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-06-27T19:33:32.483Z,1751052812.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:32.486Z,1751052812.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 567.458923 m,
      bearing: 249.869713 deg,
      approach rate: -0.722976 m/s,
      LOS rate: -0.003698 deg/s,
      cmd heading: 249.364169 deg,
      new cmd heading: 249.359542 deg.

2025-06-27T19:33:32.491Z,1751052812.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352145 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:32.667Z,1751052812.667 [DAT](INFO): DAT read: TxSync time:19:33:31.2142

2025-06-27T19:33:32.668Z,1751052812.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843
2025-06-27T19:33:32.737Z,1751052812.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:33:32.878Z,1751052812.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:32.881Z,1751052812.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 567.146301 m,
      bearing: 249.867657 deg,
      approach rate: -0.791376 m/s,
      LOS rate: -0.005207 deg/s,
      cmd heading: 249.359552 deg,
      new cmd heading: 249.353381 deg.

2025-06-27T19:33:32.882Z,1751052812.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352037 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:32.920Z,1751052812.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502140
2025-06-27T19:33:33.171Z,1751052813.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753978
2025-06-27T19:33:33.317Z,1751052813.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:33.320Z,1751052813.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 566.808472 m,
      bearing: 249.865479 deg,
      approach rate: -0.769547 m/s,
      LOS rate: -0.004966 deg/s,
      cmd heading: 249.353377 deg,
      new cmd heading: 249.346837 deg.

2025-06-27T19:33:33.321Z,1751052813.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351923 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:33.467Z,1751052813.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.049511
2025-06-27T19:33:33.675Z,1751052813.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257817
2025-06-27T19:33:33.898Z,1751052813.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:33.905Z,1751052813.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:33.912Z,1751052813.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 566.360474 m,
      bearing: 249.862045 deg,
      approach rate: -0.762662 m/s,
      LOS rate: -0.005849 deg/s,
      cmd heading: 249.346847 deg,
      new cmd heading: 249.336540 deg.

2025-06-27T19:33:33.912Z,1751052813.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351744 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:33.927Z,1751052813.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510046
2025-06-27T19:33:34.180Z,1751052814.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762184
2025-06-27T19:33:34.267Z,1751052814.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:34.270Z,1751052814.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 566.069763 m,
      bearing: 249.859838 deg,
      approach rate: -0.802267 m/s,
      LOS rate: -0.006096 deg/s,
      cmd heading: 249.336547 deg,
      new cmd heading: 249.329920 deg.

2025-06-27T19:33:34.275Z,1751052814.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351628 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:34.431Z,1751052814.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013938
2025-06-27T19:33:34.668Z,1751052814.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:34.671Z,1751052814.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 565.739868 m,
      bearing: 249.857403 deg,
      approach rate: -0.823174 m/s,
      LOS rate: -0.006079 deg/s,
      cmd heading: 249.329908 deg,
      new cmd heading: 249.322600 deg.

2025-06-27T19:33:34.671Z,1751052814.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351500 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:34.683Z,1751052814.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266015
2025-06-27T19:33:34.935Z,1751052814.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517942
2025-06-27T19:33:35.085Z,1751052815.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:35.088Z,1751052815.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 565.406311 m,
      bearing: 249.855620 deg,
      approach rate: -0.799544 m/s,
      LOS rate: -0.004277 deg/s,
      cmd heading: 249.322587 deg,
      new cmd heading: 249.317234 deg.

2025-06-27T19:33:35.089Z,1751052815.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351407 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:35.188Z,1751052815.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770204
2025-06-27T19:33:35.439Z,1751052815.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022009
2025-06-27T19:33:35.480Z,1751052815.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:35.483Z,1751052815.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 565.090149 m,
      bearing: 249.854022 deg,
      approach rate: -0.799736 m/s,
      LOS rate: -0.004043 deg/s,
      cmd heading: 249.317232 deg,
      new cmd heading: 249.312437 deg.

2025-06-27T19:33:35.484Z,1751052815.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351323 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:35.691Z,1751052815.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273923
2025-06-27T19:33:35.909Z,1751052815.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:35.911Z,1751052815.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:35.914Z,1751052815.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 564.752258 m,
      bearing: 249.853403 deg,
      approach rate: -0.784338 m/s,
      LOS rate: -0.001439 deg/s,
      cmd heading: 249.312423 deg,
      new cmd heading: 249.310564 deg.

2025-06-27T19:33:35.915Z,1751052815.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351290 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:35.948Z,1751052815.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530029
2025-06-27T19:33:36.195Z,1751052816.195 [DAT](INFO): DAT read: Rx Time:19:33:34.4014

2025-06-27T19:33:36.196Z,1751052816.196 [DAT](INFO): Rx dataTimestamp_ set to:1751052816.195512
2025-06-27T19:33:36.196Z,1751052816.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778962
2025-06-27T19:33:36.286Z,1751052816.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:36.297Z,1751052816.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 564.457397 m,
      bearing: 249.852900 deg,
      approach rate: -0.786923 m/s,
      LOS rate: -0.001343 deg/s,
      cmd heading: 249.310565 deg,
      new cmd heading: 249.309056 deg.

2025-06-27T19:33:36.297Z,1751052816.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351264 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:36.447Z,1751052816.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029943
2025-06-27T19:33:36.675Z,1751052816.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 601.13 m.
2025-06-27T19:33:36.678Z,1751052816.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 601.125305 m,
      nav range: 564.151855 m,
      bearing: 249.852384 deg,
      approach rate: -0.785623 m/s,
      LOS rate: -0.001328 deg/s,
      cmd heading: 249.309063 deg,
      new cmd heading: 249.307514 deg.

2025-06-27T19:33:36.679Z,1751052816.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351237 target range: 601.125305 and range: 606.60 m.
2025-06-27T19:33:36.705Z,1751052816.705 [DAT](INFO): DAT read: 19:33:34.4014 LVL= 14064, 15713, 12546, 20691, AGC= 70, IDX= 246, 0.08, 2.140, 0.141, 1.971, 1.346, PHS= 0.882,-1.158, 0.622, RAW= 143.3,  -3.6, CAL= 148.4, -12.8, ROT=   1.6,  12.8

2025-06-27T19:33:36.706Z,1751052816.706 [DAT](INFO): got valid direction response:
 19:33:34.4014 LVL= 14064, 15713, 12546, 20691, AGC= 70, IDX= 246, 0.08, 2.140, 0.141, 1.971, 1.346, PHS= 0.882,-1.158, 0.622, RAW= 143.3,  -3.6, CAL= 148.4, -12.8, ROT=   1.6,  12.8

2025-06-27T19:33:36.708Z,1751052816.708 [DAT](INFO): DAT read: Range 10 to 50 : 586.7 m  (Round-trip  782.3 ms) speed  0.6 m/s

2025-06-27T19:33:36.709Z,1751052816.709 [DAT](INFO): DAT read: user:2560>

2025-06-27T19:33:36.709Z,1751052816.709 [DAT](INFO): DAT read: Tx time:19:33:35.5150

2025-06-27T19:33:36.710Z,1751052816.710 [DAT](INFO): Ping request sent.
2025-06-27T19:33:36.710Z,1751052816.710 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:36.710Z,1751052816.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:36.711Z,1751052816.711 [DAT](INFO): direction in FSK: [0.974769,0.027228,-0.221548]
2025-06-27T19:33:36.711Z,1751052816.711 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:36.712Z,1751052816.712 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:36.715Z,1751052816.715 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:36.715Z,1751052816.715 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:36.952Z,1751052816.952 [DAT](INFO): DAT read: TxSync time:19:33:35.5142

2025-06-27T19:33:37.149Z,1751052817.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 586.700012 m,
      deltaT: 26.459692 s,
      deltaX: -19.899963 m,
      approachRate: -0.752086 m/s,
      rangeRepo size: 4

2025-06-27T19:33:37.160Z,1751052817.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 581.399353 m,
      bearing: 250.425023 deg,
      lat: 36.906569 deg,
      lon: -122.116260 deg,
      deltaT: 26.459692 s,
      deltaX: -19.725952 m,
      approachRate: -0.745510 m/s,
      posRepo size: 4

2025-06-27T19:33:37.160Z,1751052817.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:37.167Z,1751052817.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 563.797607 m,
      bearing: 249.853281 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001328 deg/s,
      cmd heading: 249.307505 deg,
      new cmd heading: 249.305620 deg.

2025-06-27T19:33:37.168Z,1751052817.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351204 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:37.484Z,1751052817.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:37.487Z,1751052817.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 563.516296 m,
      bearing: 249.853994 deg,
      approach rate: -0.837422 m/s,
      LOS rate: 0.002122 deg/s,
      cmd heading: 249.305620 deg,
      new cmd heading: 249.307759 deg.

2025-06-27T19:33:37.488Z,1751052817.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351241 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:37.956Z,1751052817.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:37.958Z,1751052817.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:37.959Z,1751052817.959 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:37.959Z,1751052817.959 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:37.960Z,1751052817.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:37.965Z,1751052817.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 563.163330 m,
      bearing: 249.855341 deg,
      approach rate: -0.744589 m/s,
      LOS rate: 0.002843 deg/s,
      cmd heading: 249.307751 deg,
      new cmd heading: 249.311795 deg.

2025-06-27T19:33:37.966Z,1751052817.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351312 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:38.211Z,1751052818.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501668
2025-06-27T19:33:38.296Z,1751052818.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:38.298Z,1751052818.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 562.884583 m,
      bearing: 249.856345 deg,
      approach rate: -0.825801 m/s,
      LOS rate: 0.002977 deg/s,
      cmd heading: 249.311795 deg,
      new cmd heading: 249.314810 deg.

2025-06-27T19:33:38.299Z,1751052818.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351364 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:38.463Z,1751052818.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753596
2025-06-27T19:33:38.703Z,1751052818.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:38.710Z,1751052818.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 562.568542 m,
      bearing: 249.857445 deg,
      approach rate: -0.776889 m/s,
      LOS rate: 0.002705 deg/s,
      cmd heading: 249.314800 deg,
      new cmd heading: 249.318101 deg.

2025-06-27T19:33:38.711Z,1751052818.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351422 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:38.716Z,1751052818.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006019
2025-06-27T19:33:38.967Z,1751052818.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257664
2025-06-27T19:33:39.149Z,1751052819.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:39.152Z,1751052819.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 562.223267 m,
      bearing: 249.858681 deg,
      approach rate: -0.772732 m/s,
      LOS rate: 0.002769 deg/s,
      cmd heading: 249.318106 deg,
      new cmd heading: 249.321818 deg.

2025-06-27T19:33:39.153Z,1751052819.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351487 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:39.221Z,1751052819.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510491
2025-06-27T19:33:39.471Z,1751052819.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761574
2025-06-27T19:33:39.526Z,1751052819.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:39.534Z,1751052819.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 561.938782 m,
      bearing: 249.859699 deg,
      approach rate: -0.755365 m/s,
      LOS rate: 0.002702 deg/s,
      cmd heading: 249.321822 deg,
      new cmd heading: 249.324875 deg.

2025-06-27T19:33:39.539Z,1751052819.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351540 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:39.723Z,1751052819.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013660
2025-06-27T19:33:39.960Z,1751052819.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:39.962Z,1751052819.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:39.965Z,1751052819.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 561.594482 m,
      bearing: 249.860033 deg,
      approach rate: -0.789630 m/s,
      LOS rate: 0.000768 deg/s,
      cmd heading: 249.324881 deg,
      new cmd heading: 249.325886 deg.

2025-06-27T19:33:39.966Z,1751052819.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351558 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:39.975Z,1751052819.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265599
2025-06-27T19:33:40.228Z,1751052820.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518131
2025-06-27T19:33:40.318Z,1751052820.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:40.320Z,1751052820.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 561.317993 m,
      bearing: 249.860253 deg,
      approach rate: -0.777223 m/s,
      LOS rate: 0.000617 deg/s,
      cmd heading: 249.325892 deg,
      new cmd heading: 249.326551 deg.

2025-06-27T19:33:40.321Z,1751052820.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351569 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:40.479Z,1751052820.479 [DAT](INFO): DAT read: Rx Time:19:33:38.6969

2025-06-27T19:33:40.480Z,1751052820.480 [DAT](INFO): Rx dataTimestamp_ set to:1751052820.479571
2025-06-27T19:33:40.480Z,1751052820.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770712
2025-06-27T19:33:40.718Z,1751052820.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 581.40 m.
2025-06-27T19:33:40.721Z,1751052820.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 581.399353 m,
      nav range: 561.007080 m,
      bearing: 249.860459 deg,
      approach rate: -0.776026 m/s,
      LOS rate: 0.000516 deg/s,
      cmd heading: 249.326548 deg,
      new cmd heading: 249.327169 deg.

2025-06-27T19:33:40.722Z,1751052820.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351580 target range: 581.399353 and range: 586.70 m.
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-27T19:23:40.5Z
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:33:40.727Z,1751052820.727 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-27T19:33:40.739Z,1751052820.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029662
2025-06-27T19:33:40.000Z,1751052821.000 [DAT](INFO): DAT read: 19:33:38.6969 LVL= 26608, 32753, 25586, 32755, AGC= 75, IDX= 462,-0.06, 2.957, 1.213, 2.902, 2.279, PHS= 0.766,-1.019, 0.619, RAW= 145.8,  -4.3, CAL= 150.8, -13.2, ROT= 359.2,  13.2

2025-06-27T19:33:41.002Z,1751052821.002 [DAT](INFO): got valid direction response:
 19:33:38.6969 LVL= 26608, 32753, 25586, 32755, AGC= 75, IDX= 462,-0.06, 2.957, 1.213, 2.902, 2.279, PHS= 0.766,-1.019, 0.619, RAW= 145.8,  -4.3, CAL= 150.8, -13.2, ROT= 359.2,  13.2

2025-06-27T19:33:41.003Z,1751052821.003 [DAT](INFO): DAT read: Bearing 359.2,  13.2 (Local)

2025-06-27T19:33:41.004Z,1751052821.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  13.2 (Local)

2025-06-27T19:33:41.006Z,1751052821.006 [DAT](INFO): DAT read: Range 10 to 50 : 583.2 m  (Round-trip  777.7 ms) speed  0.6 m/s

2025-06-27T19:33:41.007Z,1751052821.007 [DAT](INFO): DAT read: user:2561>

2025-06-27T19:33:41.008Z,1751052821.008 [DAT](INFO): DAT read: Tx time:19:33:39.8151

2025-06-27T19:33:41.008Z,1751052821.008 [DAT](INFO): Ping request sent.
2025-06-27T19:33:41.009Z,1751052821.009 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:41.009Z,1751052821.009 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:41.047Z,1751052821.047 [DAT](INFO): direction in FSK: [0.973484,-0.013593,-0.228351]
2025-06-27T19:33:41.048Z,1751052821.048 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:41.049Z,1751052821.049 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:41.068Z,1751052821.068 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:41.068Z,1751052821.068 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:41.203Z,1751052821.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 583.200012 m,
      deltaT: 4.292343 s,
      deltaX: -3.500000 m,
      approachRate: -0.815405 m/s,
      rangeRepo size: 4

2025-06-27T19:33:41.205Z,1751052821.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 577.929443 m,
      bearing: 248.918713 deg,
      lat: 36.906569 deg,
      lon: -122.116311 deg,
      deltaT: 4.292343 s,
      deltaX: -3.469910 m,
      approachRate: -0.808395 m/s,
      posRepo size: 4

2025-06-27T19:33:41.210Z,1751052821.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:41.213Z,1751052821.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 564.858582 m,
      bearing: 250.016313 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000516 deg/s,
      cmd heading: 249.327176 deg,
      new cmd heading: 249.327920 deg.

2025-06-27T19:33:41.214Z,1751052821.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351593 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:41.222Z,1751052821.222 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-27T19:33:41.222Z,1751052821.222 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-27T19:33:41.222Z,1751052821.222 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-27T19:33:41.244Z,1751052821.244 [DAT](INFO): DAT read: TxSync time:19:33:39.8143

2025-06-27T19:33:41.250Z,1751052821.250 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:33:41.251Z,1751052821.251 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-27T19:33:41.785Z,1751052821.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:41.788Z,1751052821.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 564.389771 m,
      bearing: 250.015488 deg,
      approach rate: -0.799068 m/s,
      LOS rate: -0.001408 deg/s,
      cmd heading: 249.327914 deg,
      new cmd heading: 249.325436 deg.

2025-06-27T19:33:41.789Z,1751052821.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351550 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:42.201Z,1751052822.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:42.204Z,1751052822.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:42.207Z,1751052822.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 564.069641 m,
      bearing: 250.014009 deg,
      approach rate: -0.764844 m/s,
      LOS rate: -0.003535 deg/s,
      cmd heading: 249.325428 deg,
      new cmd heading: 249.320989 deg.

2025-06-27T19:33:42.208Z,1751052822.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351472 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:42.251Z,1751052822.251 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:42.252Z,1751052822.252 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:42.252Z,1751052822.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:42.504Z,1751052822.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495657
2025-06-27T19:33:42.596Z,1751052822.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:42.599Z,1751052822.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 563.769226 m,
      bearing: 250.012650 deg,
      approach rate: -0.765486 m/s,
      LOS rate: -0.003466 deg/s,
      cmd heading: 249.321002 deg,
      new cmd heading: 249.316921 deg.

2025-06-27T19:33:42.600Z,1751052822.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351401 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:42.755Z,1751052822.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746714
2025-06-27T19:33:43.008Z,1751052823.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999509
2025-06-27T19:33:43.043Z,1751052823.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:43.048Z,1751052823.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 563.436523 m,
      bearing: 250.010759 deg,
      approach rate: -0.745390 m/s,
      LOS rate: -0.004238 deg/s,
      cmd heading: 249.316931 deg,
      new cmd heading: 249.311257 deg.

2025-06-27T19:33:43.051Z,1751052823.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351302 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:43.260Z,1751052823.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251355
2025-06-27T19:33:43.411Z,1751052823.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:43.414Z,1751052823.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 563.171204 m,
      bearing: 250.009258 deg,
      approach rate: -0.720019 m/s,
      LOS rate: -0.004077 deg/s,
      cmd heading: 249.311248 deg,
      new cmd heading: 249.306741 deg.

2025-06-27T19:33:43.415Z,1751052823.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351223 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:43.512Z,1751052823.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502914
2025-06-27T19:33:43.763Z,1751052823.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754638
2025-06-27T19:33:43.803Z,1751052823.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:43.806Z,1751052823.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 562.870911 m,
      bearing: 250.007536 deg,
      approach rate: -0.765835 m/s,
      LOS rate: -0.004393 deg/s,
      cmd heading: 249.306740 deg,
      new cmd heading: 249.301572 deg.

2025-06-27T19:33:43.807Z,1751052823.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351133 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:44.019Z,1751052824.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009917
2025-06-27T19:33:44.227Z,1751052824.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:44.229Z,1751052824.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:44.237Z,1751052824.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 562.556824 m,
      bearing: 250.005578 deg,
      approach rate: -0.737853 m/s,
      LOS rate: -0.004603 deg/s,
      cmd heading: 249.301577 deg,
      new cmd heading: 249.295698 deg.

2025-06-27T19:33:44.238Z,1751052824.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351031 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:44.267Z,1751052824.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258671
2025-06-27T19:33:44.519Z,1751052824.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510665
2025-06-27T19:33:44.676Z,1751052824.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:44.679Z,1751052824.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 562.226562 m,
      bearing: 250.003489 deg,
      approach rate: -0.737814 m/s,
      LOS rate: -0.004669 deg/s,
      cmd heading: 249.295703 deg,
      new cmd heading: 249.289433 deg.

2025-06-27T19:33:44.680Z,1751052824.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350922 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:44.773Z,1751052824.773 [DAT](INFO): DAT read: Rx Time:19:33:42.9924

2025-06-27T19:33:44.775Z,1751052824.775 [DAT](INFO): Rx dataTimestamp_ set to:1751052824.773677
2025-06-27T19:33:44.776Z,1751052824.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767151
2025-06-27T19:33:45.026Z,1751052825.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016682
2025-06-27T19:33:45.139Z,1751052825.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.93 m.
2025-06-27T19:33:45.141Z,1751052825.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 577.929443 m,
      nav range: 561.918274 m,
      bearing: 250.001563 deg,
      approach rate: -0.673162 m/s,
      LOS rate: -0.004207 deg/s,
      cmd heading: 249.289446 deg,
      new cmd heading: 249.283667 deg.

2025-06-27T19:33:45.147Z,1751052825.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350821 target range: 577.929443 and range: 583.20 m.
2025-06-27T19:33:45.281Z,1751052825.281 [DAT](INFO): DAT read: 19:33:42.9924 LVL= 25024, 30897, 22434, 32755, AGC= 69, IDX= 393, 0.36, 0.895,-0.741, 0.823, 0.227, PHS= 0.756,-0.921, 0.593, RAW= 145.0,  -5.4, CAL= 150.4, -14.4, ROT= 359.6,  14.4

2025-06-27T19:33:45.283Z,1751052825.283 [DAT](INFO): got valid direction response:
 19:33:42.9924 LVL= 25024, 30897, 22434, 32755, AGC= 69, IDX= 393, 0.36, 0.895,-0.741, 0.823, 0.227, PHS= 0.756,-0.921, 0.593, RAW= 145.0,  -5.4, CAL= 150.4, -14.4, ROT= 359.6,  14.4

2025-06-27T19:33:45.284Z,1751052825.284 [DAT](INFO): DAT read: Bearing 359.6,  14.4 (Local)

2025-06-27T19:33:45.284Z,1751052825.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  14.4 (Local)

2025-06-27T19:33:45.286Z,1751052825.286 [DAT](INFO): DAT read: Range 10 to 50 : 579.9 m  (Round-trip  773.2 ms) speed  0.6 m/s

2025-06-27T19:33:45.287Z,1751052825.287 [DAT](INFO): DAT read: user:2562>

2025-06-27T19:33:45.287Z,1751052825.287 [DAT](INFO): DAT read: Tx time:19:33:44.1151

2025-06-27T19:33:45.288Z,1751052825.288 [DAT](INFO): Ping request sent.
2025-06-27T19:33:45.288Z,1751052825.288 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:45.288Z,1751052825.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:33:45.289Z,1751052825.289 [DAT](INFO): direction in FSK: [0.968560,-0.006762,-0.248690]
2025-06-27T19:33:45.289Z,1751052825.289 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:45.289Z,1751052825.289 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:45.293Z,1751052825.293 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:45.293Z,1751052825.293 [DAT](INFO): publishing direction and range info
2025-06-27T19:33:45.468Z,1751052825.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 579.900024 m,
      deltaT: 4.283478 s,
      deltaX: -3.299988 m,
      approachRate: -0.770399 m/s,
      rangeRepo size: 4

2025-06-27T19:33:45.470Z,1751052825.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 574.661682 m,
      bearing: 249.385901 deg,
      lat: 36.906569 deg,
      lon: -122.116326 deg,
      deltaT: 4.283478 s,
      deltaX: -3.267761 m,
      approachRate: -0.762876 m/s,
      posRepo size: 4

2025-06-27T19:33:45.471Z,1751052825.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:45.474Z,1751052825.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 562.895264 m,
      bearing: 250.045678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004207 deg/s,
      cmd heading: 249.283654 deg,
      new cmd heading: 249.279514 deg.

2025-06-27T19:33:45.479Z,1751052825.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350748 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:45.528Z,1751052825.528 [DAT](INFO): DAT read: TxSync time:19:33:44.1143

2025-06-27T19:33:45.857Z,1751052825.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:45.860Z,1751052825.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 562.607483 m,
      bearing: 250.043852 deg,
      approach rate: -0.734909 m/s,
      LOS rate: -0.004664 deg/s,
      cmd heading: 249.279502 deg,
      new cmd heading: 249.274023 deg.

2025-06-27T19:33:45.861Z,1751052825.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350652 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:46.252Z,1751052826.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:46.274Z,1751052826.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:46.277Z,1751052826.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 562.305176 m,
      bearing: 250.042598 deg,
      approach rate: -0.755600 m/s,
      LOS rate: -0.003137 deg/s,
      cmd heading: 249.274010 deg,
      new cmd heading: 249.270245 deg.

2025-06-27T19:33:46.278Z,1751052826.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350586 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:46.283Z,1751052826.283 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:46.283Z,1751052826.283 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:46.284Z,1751052826.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:46.536Z,1751052826.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248401
2025-06-27T19:33:46.667Z,1751052826.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:46.669Z,1751052826.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 561.999573 m,
      bearing: 250.041328 deg,
      approach rate: -0.741708 m/s,
      LOS rate: -0.003083 deg/s,
      cmd heading: 249.270240 deg,
      new cmd heading: 249.266429 deg.

2025-06-27T19:33:46.686Z,1751052826.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350520 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:46.787Z,1751052826.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499522
2025-06-27T19:33:47.044Z,1751052827.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755156
2025-06-27T19:33:47.176Z,1751052827.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:47.186Z,1751052827.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 561.625671 m,
      bearing: 250.039222 deg,
      approach rate: -0.733741 m/s,
      LOS rate: -0.004136 deg/s,
      cmd heading: 249.266442 deg,
      new cmd heading: 249.260119 deg.

2025-06-27T19:33:47.187Z,1751052827.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350410 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:47.291Z,1751052827.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003611
2025-06-27T19:33:47.546Z,1751052827.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258412
2025-06-27T19:33:47.632Z,1751052827.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:47.635Z,1751052827.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 561.279297 m,
      bearing: 250.037236 deg,
      approach rate: -0.759372 m/s,
      LOS rate: -0.004358 deg/s,
      cmd heading: 249.260131 deg,
      new cmd heading: 249.254168 deg.

2025-06-27T19:33:47.636Z,1751052827.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350306 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:47.797Z,1751052827.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509322
2025-06-27T19:33:48.047Z,1751052828.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759757
2025-06-27T19:33:48.102Z,1751052828.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:48.109Z,1751052828.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 560.938965 m,
      bearing: 250.035326 deg,
      approach rate: -0.724447 m/s,
      LOS rate: -0.004067 deg/s,
      cmd heading: 249.254175 deg,
      new cmd heading: 249.248443 deg.

2025-06-27T19:33:48.110Z,1751052828.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350206 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:48.299Z,1751052828.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011585
2025-06-27T19:33:48.446Z,1751052828.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:48.448Z,1751052828.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:48.451Z,1751052828.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 560.667114 m,
      bearing: 250.033777 deg,
      approach rate: -0.783939 m/s,
      LOS rate: -0.004468 deg/s,
      cmd heading: 249.248438 deg,
      new cmd heading: 249.243789 deg.

2025-06-27T19:33:48.452Z,1751052828.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350125 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:48.552Z,1751052828.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264462
2025-06-27T19:33:48.803Z,1751052828.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515613
2025-06-27T19:33:48.842Z,1751052828.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:48.848Z,1751052828.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 560.371887 m,
      bearing: 250.032089 deg,
      approach rate: -0.750648 m/s,
      LOS rate: -0.004296 deg/s,
      cmd heading: 249.243793 deg,
      new cmd heading: 249.238725 deg.

2025-06-27T19:33:48.849Z,1751052828.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350036 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:49.055Z,1751052829.055 [DAT](INFO): DAT read: Rx Time:19:33:47.2811

2025-06-27T19:33:49.056Z,1751052829.056 [DAT](INFO): Rx dataTimestamp_ set to:1751052829.055644
2025-06-27T19:33:49.056Z,1751052829.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768753
2025-06-27T19:33:49.289Z,1751052829.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:49.307Z,1751052829.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019578
2025-06-27T19:33:49.310Z,1751052829.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 560.042114 m,
      bearing: 250.029673 deg,
      approach rate: -0.736659 m/s,
      LOS rate: -0.005399 deg/s,
      cmd heading: 249.238712 deg,
      new cmd heading: 249.231461 deg.

2025-06-27T19:33:49.316Z,1751052829.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349910 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:49.566Z,1751052829.566 [DAT](INFO): DAT read: 19:33:47.2811 LVL= 16256, 15201, 16178, 19619, AGC= 73, IDX= 403,-0.37, 0.759,-0.691, 0.750, 0.155, PHS= 0.693,-0.799, 0.592, RAW= 146.6,  -6.8, CAL= 152.3, -15.5, ROT= 357.7,  15.5

2025-06-27T19:33:49.567Z,1751052829.567 [DAT](INFO): got valid direction response:
 19:33:47.2811 LVL= 16256, 15201, 16178, 19619, AGC= 73, IDX= 403,-0.37, 0.759,-0.691, 0.750, 0.155, PHS= 0.693,-0.799, 0.592, RAW= 146.6,  -6.8, CAL= 152.3, -15.5, ROT= 357.7,  15.5

2025-06-27T19:33:49.568Z,1751052829.568 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:33:49.568Z,1751052829.568 [DAT](INFO): Received a bad header
2025-06-27T19:33:49.583Z,1751052829.583 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:33:49.584Z,1751052829.584 [DAT](INFO): direction in FSK: [0.962854,-0.038672,-0.267238]
2025-06-27T19:33:49.590Z,1751052829.590 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:49.590Z,1751052829.590 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:49.590Z,1751052829.590 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:49.683Z,1751052829.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:49.686Z,1751052829.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 559.743042 m,
      bearing: 250.027480 deg,
      approach rate: -0.761016 m/s,
      LOS rate: -0.005584 deg/s,
      cmd heading: 249.231472 deg,
      new cmd heading: 249.224889 deg.

2025-06-27T19:33:49.687Z,1751052829.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349795 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:49.811Z,1751052829.811 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:49.811Z,1751052829.811 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:49.811Z,1751052829.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:50.065Z,1751052830.065 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:50.065Z,1751052830.065 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:50.066Z,1751052830.066 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:50.126Z,1751052830.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:50.129Z,1751052830.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 559.404175 m,
      bearing: 250.025146 deg,
      approach rate: -0.763858 m/s,
      LOS rate: -0.005264 deg/s,
      cmd heading: 249.224887 deg,
      new cmd heading: 249.217882 deg.

2025-06-27T19:33:50.130Z,1751052830.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349673 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:50.315Z,1751052830.315 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:50.315Z,1751052830.315 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:50.315Z,1751052830.315 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:50.457Z,1751052830.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:50.459Z,1751052830.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:50.462Z,1751052830.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 559.150269 m,
      bearing: 250.023398 deg,
      approach rate: -0.762339 m/s,
      LOS rate: -0.005252 deg/s,
      cmd heading: 249.217893 deg,
      new cmd heading: 249.212646 deg.

2025-06-27T19:33:50.463Z,1751052830.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349581 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:50.567Z,1751052830.567 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:50.567Z,1751052830.567 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:50.567Z,1751052830.567 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:50.819Z,1751052830.819 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:50.819Z,1751052830.819 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:50.819Z,1751052830.819 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:50.868Z,1751052830.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:50.872Z,1751052830.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 558.837585 m,
      bearing: 250.021239 deg,
      approach rate: -0.764490 m/s,
      LOS rate: -0.005281 deg/s,
      cmd heading: 249.212648 deg,
      new cmd heading: 249.206167 deg.

2025-06-27T19:33:50.872Z,1751052830.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349468 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:51.073Z,1751052831.073 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:51.073Z,1751052831.073 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:51.073Z,1751052831.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:51.295Z,1751052831.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:51.297Z,1751052831.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 558.509460 m,
      bearing: 250.019643 deg,
      approach rate: -0.769856 m/s,
      LOS rate: -0.003745 deg/s,
      cmd heading: 249.206173 deg,
      new cmd heading: 249.201384 deg.

2025-06-27T19:33:51.300Z,1751052831.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349385 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:51.323Z,1751052831.323 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:51.323Z,1751052831.323 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:51.323Z,1751052831.323 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:51.575Z,1751052831.575 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:51.575Z,1751052831.575 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:51.575Z,1751052831.575 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:51.675Z,1751052831.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:51.677Z,1751052831.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 558.216492 m,
      bearing: 250.018200 deg,
      approach rate: -0.770676 m/s,
      LOS rate: -0.003800 deg/s,
      cmd heading: 249.201392 deg,
      new cmd heading: 249.197058 deg.

2025-06-27T19:33:51.679Z,1751052831.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349309 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:51.827Z,1751052831.827 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:51.827Z,1751052831.827 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:51.827Z,1751052831.827 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:52.081Z,1751052832.081 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:52.082Z,1751052832.082 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:52.082Z,1751052832.082 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:52.160Z,1751052832.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:52.162Z,1751052832.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 557.840210 m,
      bearing: 250.016842 deg,
      approach rate: -0.775735 m/s,
      LOS rate: -0.002800 deg/s,
      cmd heading: 249.197048 deg,
      new cmd heading: 249.192973 deg.

2025-06-27T19:33:52.163Z,1751052832.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349238 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:52.331Z,1751052832.331 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:52.331Z,1751052832.331 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:52.331Z,1751052832.331 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:52.474Z,1751052832.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:52.492Z,1751052832.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:52.499Z,1751052832.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 557.593933 m,
      bearing: 250.015953 deg,
      approach rate: -0.740433 m/s,
      LOS rate: -0.002674 deg/s,
      cmd heading: 249.192977 deg,
      new cmd heading: 249.190309 deg.

2025-06-27T19:33:52.500Z,1751052832.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349191 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:52.584Z,1751052832.584 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:52.584Z,1751052832.584 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:52.584Z,1751052832.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:52.835Z,1751052832.835 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:52.835Z,1751052832.835 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:52.835Z,1751052832.835 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:52.892Z,1751052832.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:52.899Z,1751052832.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 557.279907 m,
      bearing: 250.014826 deg,
      approach rate: -0.785014 m/s,
      LOS rate: -0.002819 deg/s,
      cmd heading: 249.190299 deg,
      new cmd heading: 249.186916 deg.

2025-06-27T19:33:52.900Z,1751052832.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349132 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:53.089Z,1751052833.089 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:53.090Z,1751052833.090 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:53.090Z,1751052833.090 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:53.327Z,1751052833.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:53.329Z,1751052833.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 556.926514 m,
      bearing: 250.013545 deg,
      approach rate: -0.813860 m/s,
      LOS rate: -0.002953 deg/s,
      cmd heading: 249.186912 deg,
      new cmd heading: 249.183064 deg.

2025-06-27T19:33:53.330Z,1751052833.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349065 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:53.340Z,1751052833.340 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:53.340Z,1751052833.340 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:53.341Z,1751052833.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:53.591Z,1751052833.591 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:53.591Z,1751052833.591 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:53.591Z,1751052833.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:53.702Z,1751052833.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:53.710Z,1751052833.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 556.637756 m,
      bearing: 250.012507 deg,
      approach rate: -0.768640 m/s,
      LOS rate: -0.002764 deg/s,
      cmd heading: 249.183059 deg,
      new cmd heading: 249.179944 deg.

2025-06-27T19:33:53.711Z,1751052833.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349010 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:53.843Z,1751052833.843 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:53.843Z,1751052833.843 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:53.843Z,1751052833.843 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:54.098Z,1751052834.098 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:54.098Z,1751052834.098 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:54.099Z,1751052834.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:54.191Z,1751052834.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:54.193Z,1751052834.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 556.251099 m,
      bearing: 250.011160 deg,
      approach rate: -0.798134 m/s,
      LOS rate: -0.002783 deg/s,
      cmd heading: 249.179945 deg,
      new cmd heading: 249.175900 deg.

2025-06-27T19:33:54.199Z,1751052834.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348940 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:54.347Z,1751052834.347 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:54.347Z,1751052834.347 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:54.347Z,1751052834.347 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:54.513Z,1751052834.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:54.535Z,1751052834.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:54.538Z,1751052834.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 555.984863 m,
      bearing: 250.010231 deg,
      approach rate: -0.764177 m/s,
      LOS rate: -0.002667 deg/s,
      cmd heading: 249.175901 deg,
      new cmd heading: 249.173114 deg.

2025-06-27T19:33:54.547Z,1751052834.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348891 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:54.599Z,1751052834.599 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:54.599Z,1751052834.599 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:54.599Z,1751052834.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:54.851Z,1751052834.851 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:54.851Z,1751052834.851 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:54.851Z,1751052834.851 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:54.945Z,1751052834.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:54.956Z,1751052834.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 555.644348 m,
      bearing: 250.009078 deg,
      approach rate: -0.830960 m/s,
      LOS rate: -0.002816 deg/s,
      cmd heading: 249.173115 deg,
      new cmd heading: 249.169652 deg.

2025-06-27T19:33:54.957Z,1751052834.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348831 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:55.105Z,1751052835.105 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:33:55.106Z,1751052835.106 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:33:55.106Z,1751052835.106 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:33:55.355Z,1751052835.355 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:55.356Z,1751052835.356 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:55.356Z,1751052835.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:55.366Z,1751052835.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:55.369Z,1751052835.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 555.332886 m,
      bearing: 250.009096 deg,
      approach rate: -0.746273 m/s,
      LOS rate: 0.000044 deg/s,
      cmd heading: 249.169645 deg,
      new cmd heading: 249.169700 deg.

2025-06-27T19:33:55.370Z,1751052835.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348832 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:55.607Z,1751052835.607 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:55.607Z,1751052835.607 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:55.608Z,1751052835.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:55.730Z,1751052835.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:55.733Z,1751052835.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 555.040588 m,
      bearing: 250.009153 deg,
      approach rate: -0.830360 m/s,
      LOS rate: 0.000164 deg/s,
      cmd heading: 249.169700 deg,
      new cmd heading: 249.169872 deg.

2025-06-27T19:33:55.734Z,1751052835.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348835 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:55.860Z,1751052835.860 [DAT](INFO): Reached modem response timeout
2025-06-27T19:33:55.860Z,1751052835.860 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:33:55.860Z,1751052835.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:33:56.115Z,1751052836.115 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:33:56.116Z,1751052836.116 [DAT](INFO): response not received
2025-06-27T19:33:56.117Z,1751052836.117 [DAT](INFO): DAT read: user:2564>

2025-06-27T19:33:56.119Z,1751052836.119 [DAT](INFO): DAT read: Tx time:19:33:55.0652

2025-06-27T19:33:56.120Z,1751052836.120 [DAT](INFO): Ping request sent.
2025-06-27T19:33:56.121Z,1751052836.121 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:33:56.121Z,1751052836.121 [DAT](INFO): publishing transmit ping time
2025-06-27T19:33:56.124Z,1751052836.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002836
2025-06-27T19:33:56.249Z,1751052836.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:56.256Z,1751052836.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 554.629761 m,
      bearing: 250.009634 deg,
      approach rate: -0.767622 m/s,
      LOS rate: 0.000899 deg/s,
      cmd heading: 249.169863 deg,
      new cmd heading: 249.171306 deg.

2025-06-27T19:33:56.257Z,1751052836.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348860 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:56.364Z,1751052836.364 [DAT](INFO): DAT read: TxSync time:19:33:55.0644

2025-06-27T19:33:56.365Z,1751052836.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244828
2025-06-27T19:33:56.559Z,1751052836.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:56.561Z,1751052836.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:56.568Z,1751052836.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 554.386597 m,
      bearing: 250.009932 deg,
      approach rate: -0.779000 m/s,
      LOS rate: 0.000955 deg/s,
      cmd heading: 249.171311 deg,
      new cmd heading: 249.172206 deg.

2025-06-27T19:33:56.569Z,1751052836.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348876 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:56.616Z,1751052836.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495197
2025-06-27T19:33:56.867Z,1751052836.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746978
2025-06-27T19:33:56.946Z,1751052836.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:56.949Z,1751052836.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 554.080505 m,
      bearing: 250.010365 deg,
      approach rate: -0.795755 m/s,
      LOS rate: 0.001127 deg/s,
      cmd heading: 249.172213 deg,
      new cmd heading: 249.173514 deg.

2025-06-27T19:33:56.950Z,1751052836.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348898 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:57.123Z,1751052837.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001340
2025-06-27T19:33:57.371Z,1751052837.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250940
2025-06-27T19:33:57.379Z,1751052837.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:57.382Z,1751052837.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 553.751953 m,
      bearing: 250.011253 deg,
      approach rate: -0.758391 m/s,
      LOS rate: 0.002051 deg/s,
      cmd heading: 249.173524 deg,
      new cmd heading: 249.176190 deg.

2025-06-27T19:33:57.399Z,1751052837.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348945 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:57.623Z,1751052837.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502809
2025-06-27T19:33:57.749Z,1751052837.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:57.752Z,1751052837.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 553.469238 m,
      bearing: 250.012031 deg,
      approach rate: -0.765383 m/s,
      LOS rate: 0.002107 deg/s,
      cmd heading: 249.176202 deg,
      new cmd heading: 249.178537 deg.

2025-06-27T19:33:57.753Z,1751052837.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348986 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:57.875Z,1751052837.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754966
2025-06-27T19:33:58.127Z,1751052838.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006917
2025-06-27T19:33:58.334Z,1751052838.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:58.337Z,1751052838.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 553.041565 m,
      bearing: 250.012791 deg,
      approach rate: -0.735538 m/s,
      LOS rate: 0.001308 deg/s,
      cmd heading: 249.178524 deg,
      new cmd heading: 249.180807 deg.

2025-06-27T19:33:58.338Z,1751052838.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349026 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:58.379Z,1751052838.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258897
2025-06-27T19:33:58.632Z,1751052838.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511221
2025-06-27T19:33:58.703Z,1751052838.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:33:58.705Z,1751052838.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:58.712Z,1751052838.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 552.750549 m,
      bearing: 250.013272 deg,
      approach rate: -0.776044 m/s,
      LOS rate: 0.001283 deg/s,
      cmd heading: 249.180819 deg,
      new cmd heading: 249.182263 deg.

2025-06-27T19:33:58.713Z,1751052838.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349051 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:58.883Z,1751052838.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762932
2025-06-27T19:33:59.098Z,1751052839.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:59.101Z,1751052839.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 552.445923 m,
      bearing: 250.013744 deg,
      approach rate: -0.775397 m/s,
      LOS rate: 0.001201 deg/s,
      cmd heading: 249.182267 deg,
      new cmd heading: 249.183683 deg.

2025-06-27T19:33:59.102Z,1751052839.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349076 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:59.136Z,1751052839.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015106
2025-06-27T19:33:59.387Z,1751052839.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266885
2025-06-27T19:33:59.525Z,1751052839.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:59.528Z,1751052839.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 552.130798 m,
      bearing: 250.013529 deg,
      approach rate: -0.737566 m/s,
      LOS rate: -0.000504 deg/s,
      cmd heading: 249.183688 deg,
      new cmd heading: 249.183042 deg.

2025-06-27T19:33:59.529Z,1751052839.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349064 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:33:59.639Z,1751052839.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518929
2025-06-27T19:33:59.889Z,1751052839.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:33:59.892Z,1751052839.892 [DAT](INFO): DAT read: Rx Time:19:33:58.2348

2025-06-27T19:33:59.892Z,1751052839.892 [DAT](INFO): Rx dataTimestamp_ set to:1751052839.891720
2025-06-27T19:33:59.893Z,1751052839.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772067
2025-06-27T19:33:59.895Z,1751052839.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 551.862305 m,
      bearing: 250.013329 deg,
      approach rate: -0.737752 m/s,
      LOS rate: -0.000550 deg/s,
      cmd heading: 249.183032 deg,
      new cmd heading: 249.182432 deg.

2025-06-27T19:33:59.896Z,1751052839.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349054 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:34:00.146Z,1751052840.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025170
2025-06-27T19:34:00.390Z,1751052840.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.66 m.
2025-06-27T19:34:00.401Z,1751052840.401 [DAT](INFO): DAT read: 19:33:58.2348 LVL= 26560, 20593, 25586, 32755, AGC= 72, IDX= 491,-0.23,-0.562,-2.137,-0.591,-1.220, PHS= 0.746,-0.870, 0.626, RAW= 146.2,  -6.5, CAL= 151.8, -15.3, ROT= 358.2,  15.3

2025-06-27T19:34:00.403Z,1751052840.403 [DAT](INFO): got valid direction response:
 19:33:58.2348 LVL= 26560, 20593, 25586, 32755, AGC= 72, IDX= 491,-0.23,-0.562,-2.137,-0.591,-1.220, PHS= 0.746,-0.870, 0.626, RAW= 146.2,  -6.5, CAL= 151.8, -15.3, ROT= 358.2,  15.3

2025-06-27T19:34:00.404Z,1751052840.404 [DAT](INFO): DAT read: Bearing 358.2,  15.3 (Local)

2025-06-27T19:34:00.404Z,1751052840.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  15.3 (Local)

2025-06-27T19:34:00.405Z,1751052840.405 [DAT](INFO): DAT read: Range 10 to 50 : 574.1 m  (Round-trip  765.5 ms) speed  0.5 m/s

2025-06-27T19:34:00.406Z,1751052840.406 [DAT](INFO): DAT read: user:2565>

2025-06-27T19:34:00.407Z,1751052840.407 [DAT](INFO): DAT read: Tx time:19:33:59.3152

2025-06-27T19:34:00.407Z,1751052840.407 [DAT](INFO): Ping request sent.
2025-06-27T19:34:00.407Z,1751052840.407 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:00.408Z,1751052840.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:00.409Z,1751052840.409 [DAT](INFO): direction in FSK: [0.964081,-0.030297,-0.263873]
2025-06-27T19:34:00.409Z,1751052840.409 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:00.409Z,1751052840.409 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:00.412Z,1751052840.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 574.661682 m,
      nav range: 551.514771 m,
      bearing: 250.011805 deg,
      approach rate: -0.694578 m/s,
      LOS rate: -0.003047 deg/s,
      cmd heading: 249.182431 deg,
      new cmd heading: 249.177858 deg.

2025-06-27T19:34:00.423Z,1751052840.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348974 target range: 574.661682 and range: 579.90 m.
2025-06-27T19:34:00.428Z,1751052840.428 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:00.428Z,1751052840.428 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:00.648Z,1751052840.648 [DAT](INFO): DAT read: TxSync time:19:33:59.3144

2025-06-27T19:34:00.739Z,1751052840.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 574.099976 m,
      deltaT: 15.120132 s,
      deltaX: -5.800049 m,
      approachRate: -0.383598 m/s,
      rangeRepo size: 4

2025-06-27T19:34:00.741Z,1751052840.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 568.913086 m,
      bearing: 248.087828 deg,
      lat: 36.906507 deg,
      lon: -122.116326 deg,
      deltaT: 15.120132 s,
      deltaX: -5.748596 m,
      approachRate: -0.380195 m/s,
      posRepo size: 4

2025-06-27T19:34:00.742Z,1751052840.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:00.749Z,1751052840.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 553.652710 m,
      bearing: 249.339217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003047 deg/s,
      cmd heading: 249.177868 deg,
      new cmd heading: 249.174717 deg.

2025-06-27T19:34:00.750Z,1751052840.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348919 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:01.116Z,1751052841.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:01.118Z,1751052841.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:01.121Z,1751052841.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 553.364136 m,
      bearing: 249.337579 deg,
      approach rate: -0.751818 m/s,
      LOS rate: -0.004270 deg/s,
      cmd heading: 249.174727 deg,
      new cmd heading: 249.169809 deg.

2025-06-27T19:34:01.122Z,1751052841.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348834 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:01.151Z,1751052841.151 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:01.152Z,1751052841.152 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:01.152Z,1751052841.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:01.403Z,1751052841.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995841
2025-06-27T19:34:01.544Z,1751052841.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:01.547Z,1751052841.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 553.050720 m,
      bearing: 249.334896 deg,
      approach rate: -0.735543 m/s,
      LOS rate: -0.006300 deg/s,
      cmd heading: 249.169809 deg,
      new cmd heading: 249.161756 deg.

2025-06-27T19:34:01.548Z,1751052841.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348693 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:01.656Z,1751052841.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248195
2025-06-27T19:34:01.907Z,1751052841.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499925
2025-06-27T19:34:01.917Z,1751052841.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:01.920Z,1751052841.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 552.776245 m,
      bearing: 249.332544 deg,
      approach rate: -0.735357 m/s,
      LOS rate: -0.006304 deg/s,
      cmd heading: 249.161749 deg,
      new cmd heading: 249.154690 deg.

2025-06-27T19:34:01.921Z,1751052841.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348570 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:02.159Z,1751052842.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751956
2025-06-27T19:34:02.357Z,1751052842.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:02.360Z,1751052842.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 552.447815 m,
      bearing: 249.329041 deg,
      approach rate: -0.747086 m/s,
      LOS rate: -0.007973 deg/s,
      cmd heading: 249.154700 deg,
      new cmd heading: 249.144185 deg.

2025-06-27T19:34:02.361Z,1751052842.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348386 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:02.411Z,1751052842.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004019
2025-06-27T19:34:02.663Z,1751052842.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255780
2025-06-27T19:34:02.733Z,1751052842.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:02.736Z,1751052842.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 552.165833 m,
      bearing: 249.325986 deg,
      approach rate: -0.750269 m/s,
      LOS rate: -0.008132 deg/s,
      cmd heading: 249.144182 deg,
      new cmd heading: 249.135013 deg.

2025-06-27T19:34:02.737Z,1751052842.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348226 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:02.851Z,1751052842.851 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:34:02.915Z,1751052842.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507901
2025-06-27T19:34:03.130Z,1751052843.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:03.132Z,1751052843.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:03.135Z,1751052843.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 551.867310 m,
      bearing: 249.322742 deg,
      approach rate: -0.747505 m/s,
      LOS rate: -0.008129 deg/s,
      cmd heading: 249.135002 deg,
      new cmd heading: 249.125263 deg.

2025-06-27T19:34:03.136Z,1751052843.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348056 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:03.167Z,1751052843.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760008
2025-06-27T19:34:03.419Z,1751052843.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011777
2025-06-27T19:34:03.579Z,1751052843.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:03.582Z,1751052843.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 551.542725 m,
      bearing: 249.319450 deg,
      approach rate: -0.726568 m/s,
      LOS rate: -0.007373 deg/s,
      cmd heading: 249.125276 deg,
      new cmd heading: 249.115395 deg.

2025-06-27T19:34:03.583Z,1751052843.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347884 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:03.672Z,1751052843.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264645
2025-06-27T19:34:03.855Z,1751052843.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:34:03.924Z,1751052843.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516720
2025-06-27T19:34:03.963Z,1751052843.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:03.967Z,1751052843.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 551.256653 m,
      bearing: 249.316568 deg,
      approach rate: -0.744804 m/s,
      LOS rate: -0.007507 deg/s,
      cmd heading: 249.115386 deg,
      new cmd heading: 249.106736 deg.

2025-06-27T19:34:03.972Z,1751052843.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347733 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:04.175Z,1751052844.175 [DAT](INFO): DAT read: Rx Time:19:34:02.4655

2025-06-27T19:34:04.176Z,1751052844.176 [DAT](INFO): Rx dataTimestamp_ set to:1751052844.175580
2025-06-27T19:34:04.176Z,1751052844.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768936
2025-06-27T19:34:04.380Z,1751052844.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 568.91 m.
2025-06-27T19:34:04.383Z,1751052844.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 568.913086 m,
      nav range: 550.950989 m,
      bearing: 249.313916 deg,
      approach rate: -0.732623 m/s,
      LOS rate: -0.006360 deg/s,
      cmd heading: 249.106725 deg,
      new cmd heading: 249.098765 deg.

2025-06-27T19:34:04.384Z,1751052844.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347594 target range: 568.913086 and range: 574.10 m.
2025-06-27T19:34:04.428Z,1751052844.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020893
2025-06-27T19:34:04.685Z,1751052844.685 [DAT](INFO): DAT read: 19:34:02.4655 LVL= 21648, 26753, 20658, 32755, AGC= 69, IDX= 319,-0.26, 1.826, 0.240, 1.798, 1.175, PHS= 0.739,-0.888, 0.620, RAW= 146.2,  -6.1, CAL= 151.7, -14.9, ROT= 358.3,  14.9

2025-06-27T19:34:04.686Z,1751052844.686 [DAT](INFO): got valid direction response:
 19:34:02.4655 LVL= 21648, 26753, 20658, 32755, AGC= 69, IDX= 319,-0.26, 1.826, 0.240, 1.798, 1.175, PHS= 0.739,-0.888, 0.620, RAW= 146.2,  -6.1, CAL= 151.7, -14.9, ROT= 358.3,  14.9

2025-06-27T19:34:04.687Z,1751052844.687 [DAT](INFO): DAT read: Bearing 358.3,  14.9 (Local)

2025-06-27T19:34:04.688Z,1751052844.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  14.9 (Local)

2025-06-27T19:34:04.689Z,1751052844.689 [DAT](INFO): DAT read: Range 10 to 50 : 559.5 m  (Round-trip  746.1 ms) speed  0.5 m/s

2025-06-27T19:34:04.690Z,1751052844.690 [DAT](INFO): DAT read: user:2566>

2025-06-27T19:34:04.695Z,1751052844.695 [DAT](INFO): DAT read: Tx time:19:34:03.5652

2025-06-27T19:34:04.695Z,1751052844.695 [DAT](INFO): Ping request sent.
2025-06-27T19:34:04.695Z,1751052844.695 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:04.696Z,1751052844.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:04.697Z,1751052844.697 [DAT](INFO): direction in FSK: [0.965951,-0.028669,-0.257133]
2025-06-27T19:34:04.697Z,1751052844.697 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:04.697Z,1751052844.697 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:04.700Z,1751052844.700 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:04.700Z,1751052844.700 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:04.814Z,1751052844.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 559.500000 m,
      deltaT: 4.283913 s,
      deltaX: -14.599976 m,
      approachRate: -3.408093 m/s,
      rangeRepo size: 4

2025-06-27T19:34:04.820Z,1751052844.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 554.446350 m,
      bearing: 248.251021 deg,
      lat: 36.906465 deg,
      lon: -122.116326 deg,
      deltaT: 4.283913 s,
      deltaX: -14.466736 m,
      approachRate: -3.376991 m/s,
      posRepo size: 4

2025-06-27T19:34:04.821Z,1751052844.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:04.828Z,1751052844.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 552.316956 m,
      bearing: 248.858014 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006360 deg/s,
      cmd heading: 249.098775 deg,
      new cmd heading: 249.090515 deg.

2025-06-27T19:34:04.829Z,1751052844.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347450 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:04.932Z,1751052844.932 [DAT](INFO): DAT read: TxSync time:19:34:03.5644

2025-06-27T19:34:05.169Z,1751052845.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:05.172Z,1751052845.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:05.175Z,1751052845.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 552.040588 m,
      bearing: 248.855402 deg,
      approach rate: -0.770566 m/s,
      LOS rate: -0.007286 deg/s,
      cmd heading: 249.090524 deg,
      new cmd heading: 249.082684 deg.

2025-06-27T19:34:05.176Z,1751052845.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347313 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:05.183Z,1751052845.183 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:05.183Z,1751052845.183 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:05.184Z,1751052845.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:05.435Z,1751052845.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739989
2025-06-27T19:34:05.591Z,1751052845.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:05.593Z,1751052845.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 551.732361 m,
      bearing: 248.852738 deg,
      approach rate: -0.736461 m/s,
      LOS rate: -0.006369 deg/s,
      cmd heading: 249.082683 deg,
      new cmd heading: 249.074686 deg.

2025-06-27T19:34:05.595Z,1751052845.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347173 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:05.687Z,1751052845.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992049
2025-06-27T19:34:05.941Z,1751052845.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244926
2025-06-27T19:34:05.974Z,1751052845.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:05.977Z,1751052845.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 551.450378 m,
      bearing: 248.850413 deg,
      approach rate: -0.735883 m/s,
      LOS rate: -0.006069 deg/s,
      cmd heading: 249.074678 deg,
      new cmd heading: 249.067701 deg.

2025-06-27T19:34:05.978Z,1751052845.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347052 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:06.192Z,1751052846.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496300
2025-06-27T19:34:06.416Z,1751052846.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:06.427Z,1751052846.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 551.133057 m,
      bearing: 248.848071 deg,
      approach rate: -0.717514 m/s,
      LOS rate: -0.005300 deg/s,
      cmd heading: 249.067711 deg,
      new cmd heading: 249.060680 deg.

2025-06-27T19:34:06.428Z,1751052846.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346929 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:06.444Z,1751052846.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748172
2025-06-27T19:34:06.695Z,1751052846.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999927
2025-06-27T19:34:06.773Z,1751052846.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:06.776Z,1751052846.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 550.866333 m,
      bearing: 248.846086 deg,
      approach rate: -0.747590 m/s,
      LOS rate: -0.005567 deg/s,
      cmd heading: 249.060690 deg,
      new cmd heading: 249.054731 deg.

2025-06-27T19:34:06.777Z,1751052846.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346825 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:06.947Z,1751052846.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251991
2025-06-27T19:34:07.189Z,1751052847.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:07.196Z,1751052847.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:07.199Z,1751052847.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504089
2025-06-27T19:34:07.202Z,1751052847.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 550.571899 m,
      bearing: 248.843863 deg,
      approach rate: -0.695659 m/s,
      LOS rate: -0.005254 deg/s,
      cmd heading: 249.054734 deg,
      new cmd heading: 249.048063 deg.

2025-06-27T19:34:07.207Z,1751052847.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346709 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:07.452Z,1751052847.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756669
2025-06-27T19:34:07.629Z,1751052847.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:07.636Z,1751052847.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 550.239380 m,
      bearing: 248.841732 deg,
      approach rate: -0.767456 m/s,
      LOS rate: -0.004923 deg/s,
      cmd heading: 249.048068 deg,
      new cmd heading: 249.041668 deg.

2025-06-27T19:34:07.637Z,1751052847.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346597 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:07.704Z,1751052847.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008857
2025-06-27T19:34:07.955Z,1751052847.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260020
2025-06-27T19:34:07.993Z,1751052847.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:07.997Z,1751052847.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 549.963440 m,
      bearing: 248.839971 deg,
      approach rate: -0.760058 m/s,
      LOS rate: -0.004851 deg/s,
      cmd heading: 249.041674 deg,
      new cmd heading: 249.036391 deg.

2025-06-27T19:34:07.999Z,1751052847.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346505 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:08.207Z,1751052848.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512007
2025-06-27T19:34:08.465Z,1751052848.465 [DAT](INFO): DAT read: 19:34:06.7183 LVL= 21200, 19313, 18770, 24819, AGC= 71, IDX= 465, 0.16,-2.306, 2.457,-2.575,-3.004, PHS= 0.785,-0.775, 0.425, RAW= 137.3,  -6.2, CAL= 143.1, -16.4, ROT=   6.9,  16.4

2025-06-27T19:34:08.466Z,1751052848.466 [DAT](INFO): got valid direction response:
 19:34:06.7183 LVL= 21200, 19313, 18770, 24819, AGC= 71, IDX= 465, 0.16,-2.306, 2.457,-2.575,-3.004, PHS= 0.785,-0.775, 0.425, RAW= 137.3,  -6.2, CAL= 143.1, -16.4, ROT=   6.9,  16.4

2025-06-27T19:34:08.467Z,1751052848.467 [DAT](INFO): DAT read: Rx Time:19:34:06.7183

2025-06-27T19:34:08.468Z,1751052848.468 [DAT](INFO): Rx dataTimestamp_ set to:1751052848.467316
2025-06-27T19:34:08.468Z,1751052848.468 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-27T19:34:08.469Z,1751052848.469 [DAT](INFO): Received low SNR in chirp
2025-06-27T19:34:08.483Z,1751052848.483 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:34:08.484Z,1751052848.484 [DAT](INFO): direction in FSK: [0.952366,0.115249,-0.282341]
2025-06-27T19:34:08.487Z,1751052848.487 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:08.487Z,1751052848.487 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:08.487Z,1751052848.487 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:08.625Z,1751052848.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:08.632Z,1751052848.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 549.494446 m,
      bearing: 248.836532 deg,
      approach rate: -0.741490 m/s,
      LOS rate: -0.005442 deg/s,
      cmd heading: 249.036402 deg,
      new cmd heading: 249.026075 deg.

2025-06-27T19:34:08.633Z,1751052848.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346325 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:08.711Z,1751052848.711 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:08.711Z,1751052848.711 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:08.711Z,1751052848.711 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:08.917Z,1751052848.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:08.936Z,1751052848.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 549.269897 m,
      bearing: 248.834903 deg,
      approach rate: -0.767897 m/s,
      LOS rate: -0.005574 deg/s,
      cmd heading: 249.026074 deg,
      new cmd heading: 249.021185 deg.

2025-06-27T19:34:08.937Z,1751052848.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346240 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:08.963Z,1751052848.963 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:08.963Z,1751052848.963 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:08.963Z,1751052848.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:09.215Z,1751052849.215 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:09.215Z,1751052849.215 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:09.215Z,1751052849.215 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:09.393Z,1751052849.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:09.400Z,1751052849.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:09.406Z,1751052849.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 548.918152 m,
      bearing: 248.832364 deg,
      approach rate: -0.729132 m/s,
      LOS rate: -0.005267 deg/s,
      cmd heading: 249.021184 deg,
      new cmd heading: 249.013561 deg.

2025-06-27T19:34:09.407Z,1751052849.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346107 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:09.467Z,1751052849.467 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:09.467Z,1751052849.467 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:09.467Z,1751052849.467 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:09.719Z,1751052849.719 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:09.719Z,1751052849.719 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:09.719Z,1751052849.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:09.774Z,1751052849.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:09.776Z,1751052849.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 548.624512 m,
      bearing: 248.830202 deg,
      approach rate: -0.785119 m/s,
      LOS rate: -0.005782 deg/s,
      cmd heading: 249.013561 deg,
      new cmd heading: 249.007074 deg.

2025-06-27T19:34:09.777Z,1751052849.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345994 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:09.971Z,1751052849.971 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:09.971Z,1751052849.971 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:09.971Z,1751052849.971 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:10.134Z,1751052850.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:10.136Z,1751052850.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 548.351318 m,
      bearing: 248.828204 deg,
      approach rate: -0.758763 m/s,
      LOS rate: -0.005552 deg/s,
      cmd heading: 249.007086 deg,
      new cmd heading: 249.001089 deg.

2025-06-27T19:34:10.137Z,1751052850.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345889 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:10.223Z,1751052850.223 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:10.223Z,1751052850.223 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:10.224Z,1751052850.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:10.475Z,1751052850.475 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:10.475Z,1751052850.475 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:10.475Z,1751052850.475 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:10.564Z,1751052850.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:10.567Z,1751052850.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 548.020020 m,
      bearing: 248.826237 deg,
      approach rate: -0.769000 m/s,
      LOS rate: -0.004569 deg/s,
      cmd heading: 249.001076 deg,
      new cmd heading: 248.995171 deg.

2025-06-27T19:34:10.568Z,1751052850.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345786 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:10.727Z,1751052850.727 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:10.727Z,1751052850.727 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:10.727Z,1751052850.727 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:10.937Z,1751052850.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:10.940Z,1751052850.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 547.732910 m,
      bearing: 248.824547 deg,
      approach rate: -0.770435 m/s,
      LOS rate: -0.004538 deg/s,
      cmd heading: 248.995175 deg,
      new cmd heading: 248.990102 deg.

2025-06-27T19:34:10.941Z,1751052850.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345697 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:10.980Z,1751052850.980 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:10.980Z,1751052850.980 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:10.980Z,1751052850.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:11.231Z,1751052851.231 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:11.231Z,1751052851.231 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:11.231Z,1751052851.231 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:11.483Z,1751052851.483 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:11.483Z,1751052851.483 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:11.483Z,1751052851.483 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:11.492Z,1751052851.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:11.494Z,1751052851.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:11.497Z,1751052851.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 547.302429 m,
      bearing: 248.822451 deg,
      approach rate: -0.773455 m/s,
      LOS rate: -0.003768 deg/s,
      cmd heading: 248.990093 deg,
      new cmd heading: 248.983802 deg.

2025-06-27T19:34:11.497Z,1751052851.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345587 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:11.735Z,1751052851.735 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:11.735Z,1751052851.735 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:11.735Z,1751052851.735 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:11.858Z,1751052851.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:11.867Z,1751052851.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 547.029907 m,
      bearing: 248.821123 deg,
      approach rate: -0.756075 m/s,
      LOS rate: -0.003687 deg/s,
      cmd heading: 248.983809 deg,
      new cmd heading: 248.979822 deg.

2025-06-27T19:34:11.868Z,1751052851.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345518 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:11.987Z,1751052851.987 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:11.987Z,1751052851.987 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:11.987Z,1751052851.987 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:12.203Z,1751052852.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:12.206Z,1751052852.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 546.753113 m,
      bearing: 248.819826 deg,
      approach rate: -0.792378 m/s,
      LOS rate: -0.003717 deg/s,
      cmd heading: 248.979820 deg,
      new cmd heading: 248.975925 deg.

2025-06-27T19:34:12.207Z,1751052852.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345449 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:12.240Z,1751052852.240 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:12.240Z,1751052852.240 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:12.240Z,1751052852.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:12.491Z,1751052852.491 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:12.491Z,1751052852.491 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:12.491Z,1751052852.491 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:12.637Z,1751052852.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:12.644Z,1751052852.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 546.437622 m,
      bearing: 248.818599 deg,
      approach rate: -0.727479 m/s,
      LOS rate: -0.002830 deg/s,
      cmd heading: 248.975913 deg,
      new cmd heading: 248.972232 deg.

2025-06-27T19:34:12.645Z,1751052852.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345385 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:12.743Z,1751052852.743 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:12.744Z,1751052852.744 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:12.744Z,1751052852.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:12.988Z,1751052852.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:12.992Z,1751052852.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 546.149414 m,
      bearing: 248.817524 deg,
      approach rate: -0.822427 m/s,
      LOS rate: -0.003069 deg/s,
      cmd heading: 248.972225 deg,
      new cmd heading: 248.968999 deg.

2025-06-27T19:34:12.993Z,1751052852.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345329 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:13.001Z,1751052853.001 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:13.001Z,1751052853.001 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:13.001Z,1751052853.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:13.252Z,1751052853.252 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:13.252Z,1751052853.252 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:13.252Z,1751052853.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:13.493Z,1751052853.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:13.499Z,1751052853.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:13.502Z,1751052853.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 545.779907 m,
      bearing: 248.816508 deg,
      approach rate: -0.722254 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 248.969001 deg,
      new cmd heading: 248.965952 deg.

2025-06-27T19:34:13.503Z,1751052853.503 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:13.503Z,1751052853.503 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:13.503Z,1751052853.503 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:13.507Z,1751052853.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345275 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:13.755Z,1751052853.755 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:13.755Z,1751052853.755 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:13.755Z,1751052853.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:13.806Z,1751052853.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:13.813Z,1751052853.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 545.543823 m,
      bearing: 248.815886 deg,
      approach rate: -0.770223 m/s,
      LOS rate: -0.002032 deg/s,
      cmd heading: 248.965941 deg,
      new cmd heading: 248.964072 deg.

2025-06-27T19:34:13.814Z,1751052853.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345243 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:14.007Z,1751052854.007 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:14.008Z,1751052854.008 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:14.008Z,1751052854.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:14.199Z,1751052854.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:14.201Z,1751052854.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 545.230530 m,
      bearing: 248.815096 deg,
      approach rate: -0.797477 m/s,
      LOS rate: -0.002010 deg/s,
      cmd heading: 248.964084 deg,
      new cmd heading: 248.961715 deg.

2025-06-27T19:34:14.203Z,1751052854.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345201 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:14.260Z,1751052854.260 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:14.260Z,1751052854.260 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:14.260Z,1751052854.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:14.511Z,1751052854.511 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:14.511Z,1751052854.511 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:14.511Z,1751052854.511 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:14.623Z,1751052854.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:14.631Z,1751052854.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 544.911560 m,
      bearing: 248.814569 deg,
      approach rate: -0.752392 m/s,
      LOS rate: -0.001246 deg/s,
      cmd heading: 248.961707 deg,
      new cmd heading: 248.960122 deg.

2025-06-27T19:34:14.632Z,1751052854.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345174 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:14.763Z,1751052854.763 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:14.764Z,1751052854.764 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:14.764Z,1751052854.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:14.000Z,1751052855.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:15.004Z,1751052855.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 544.631165 m,
      bearing: 248.814128 deg,
      approach rate: -0.744057 m/s,
      LOS rate: -0.001170 deg/s,
      cmd heading: 248.960122 deg,
      new cmd heading: 248.958800 deg.

2025-06-27T19:34:15.005Z,1751052855.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345151 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:15.015Z,1751052855.015 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:15.016Z,1751052855.016 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:15.016Z,1751052855.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:15.267Z,1751052855.267 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:15.267Z,1751052855.267 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:15.268Z,1751052855.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:15.490Z,1751052855.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:15.492Z,1751052855.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 544.267944 m,
      bearing: 248.813566 deg,
      approach rate: -0.740950 m/s,
      LOS rate: -0.001147 deg/s,
      cmd heading: 248.958811 deg,
      new cmd heading: 248.957124 deg.

2025-06-27T19:34:15.493Z,1751052855.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345121 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:15.519Z,1751052855.519 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:34:15.520Z,1751052855.520 [DAT](INFO): response not received
2025-06-27T19:34:15.520Z,1751052855.520 [DAT](INFO): DAT read: user:2568>

2025-06-27T19:34:15.520Z,1751052855.520 [DAT](ERROR): No response from remote modem.
2025-06-27T19:34:15.521Z,1751052855.521 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:15.521Z,1751052855.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:15.771Z,1751052855.771 [DAT](INFO): DAT read: Tx time:19:34:14.5153

2025-06-27T19:34:15.772Z,1751052855.772 [DAT](INFO): Ping request sent.
2025-06-27T19:34:15.772Z,1751052855.772 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:15.772Z,1751052855.772 [DAT](INFO): DAT read: TxSync time:19:34:14.5145

2025-06-27T19:34:15.773Z,1751052855.773 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:15.773Z,1751052855.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587
2025-06-27T19:34:15.833Z,1751052855.833 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS

2025-06-27T19:34:15.858Z,1751052855.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:15.864Z,1751052855.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:15.872Z,1751052855.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 543.980957 m,
      bearing: 248.813122 deg,
      approach rate: -0.766027 m/s,
      LOS rate: -0.001187 deg/s,
      cmd heading: 248.957117 deg,
      new cmd heading: 248.955783 deg.

2025-06-27T19:34:15.873Z,1751052855.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345098 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:16.024Z,1751052856.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252059
2025-06-27T19:34:16.226Z,1751052856.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:16.233Z,1751052856.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 543.720520 m,
      bearing: 248.812714 deg,
      approach rate: -0.720424 m/s,
      LOS rate: -0.001129 deg/s,
      cmd heading: 248.955778 deg,
      new cmd heading: 248.954553 deg.

2025-06-27T19:34:16.242Z,1751052856.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345077 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:16.275Z,1751052856.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503552
2025-06-27T19:34:16.528Z,1751052856.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755688
2025-06-27T19:34:16.677Z,1751052856.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:16.680Z,1751052856.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 543.380676 m,
      bearing: 248.812808 deg,
      approach rate: -0.753151 m/s,
      LOS rate: 0.000209 deg/s,
      cmd heading: 248.954549 deg,
      new cmd heading: 248.954831 deg.

2025-06-27T19:34:16.681Z,1751052856.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345081 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:16.779Z,1751052856.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007595
2025-06-27T19:34:17.031Z,1751052857.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259534
2025-06-27T19:34:17.051Z,1751052857.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:17.054Z,1751052857.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 543.118835 m,
      bearing: 248.812812 deg,
      approach rate: -0.699572 m/s,
      LOS rate: 0.000010 deg/s,
      cmd heading: 248.954822 deg,
      new cmd heading: 248.954833 deg.

2025-06-27T19:34:17.056Z,1751052857.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345081 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:17.283Z,1751052857.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511500
2025-06-27T19:34:17.485Z,1751052857.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:17.501Z,1751052857.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 542.831177 m,
      bearing: 248.812814 deg,
      approach rate: -0.665964 m/s,
      LOS rate: 0.000004 deg/s,
      cmd heading: 248.954822 deg,
      new cmd heading: 248.954827 deg.

2025-06-27T19:34:17.502Z,1751052857.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345081 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:17.537Z,1751052857.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764997
2025-06-27T19:34:17.788Z,1751052857.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016228
2025-06-27T19:34:17.856Z,1751052857.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:17.859Z,1751052857.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 542.523010 m,
      bearing: 248.811997 deg,
      approach rate: -0.825858 m/s,
      LOS rate: -0.002191 deg/s,
      cmd heading: 248.954822 deg,
      new cmd heading: 248.952369 deg.

2025-06-27T19:34:17.860Z,1751052857.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345038 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:18.042Z,1751052858.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270393
2025-06-27T19:34:18.231Z,1751052858.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:18.233Z,1751052858.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:18.236Z,1751052858.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 542.252197 m,
      bearing: 248.811307 deg,
      approach rate: -0.719203 m/s,
      LOS rate: -0.001832 deg/s,
      cmd heading: 248.952363 deg,
      new cmd heading: 248.950293 deg.

2025-06-27T19:34:18.237Z,1751052858.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345002 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:18.292Z,1751052858.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520293
2025-06-27T19:34:18.543Z,1751052858.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771379
2025-06-27T19:34:18.668Z,1751052858.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:18.675Z,1751052858.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 541.949707 m,
      bearing: 248.810126 deg,
      approach rate: -0.694580 m/s,
      LOS rate: -0.002715 deg/s,
      cmd heading: 248.950287 deg,
      new cmd heading: 248.946740 deg.

2025-06-27T19:34:18.676Z,1751052858.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344940 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:18.795Z,1751052858.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023466
2025-06-27T19:34:19.044Z,1751052859.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:19.047Z,1751052859.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275638
2025-06-27T19:34:19.049Z,1751052859.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 541.667908 m,
      bearing: 248.809049 deg,
      approach rate: -0.749598 m/s,
      LOS rate: -0.002865 deg/s,
      cmd heading: 248.946735 deg,
      new cmd heading: 248.943503 deg.

2025-06-27T19:34:19.050Z,1751052859.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344884 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:19.299Z,1751052859.299 [DAT](INFO): DAT read: Rx Time:19:34:17.6659

2025-06-27T19:34:19.300Z,1751052859.300 [DAT](INFO): Rx dataTimestamp_ set to:1751052859.299547
2025-06-27T19:34:19.300Z,1751052859.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528509
2025-06-27T19:34:19.444Z,1751052859.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:19.449Z,1751052859.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 541.381104 m,
      bearing: 248.807945 deg,
      approach rate: -0.720402 m/s,
      LOS rate: -0.002774 deg/s,
      cmd heading: 248.943511 deg,
      new cmd heading: 248.940198 deg.

2025-06-27T19:34:19.450Z,1751052859.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344826 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:19.552Z,1751052859.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779701
2025-06-27T19:34:19.823Z,1751052859.823 [DAT](INFO): DAT read: 19:34:17.6659 LVL= 27888, 32753, 27634, 32755, AGC= 70, IDX= 422, 0.30, 2.417, 0.999, 2.286, 1.696, PHS= 0.809,-0.650, 0.587, RAW= 141.9, -11.0, CAL= 148.9, -20.4, ROT=   1.1,  20.4

2025-06-27T19:34:19.824Z,1751052859.824 [DAT](INFO): got valid direction response:
 19:34:17.6659 LVL= 27888, 32753, 27634, 32755, AGC= 70, IDX= 422, 0.30, 2.417, 0.999, 2.286, 1.696, PHS= 0.809,-0.650, 0.587, RAW= 141.9, -11.0, CAL= 148.9, -20.4, ROT=   1.1,  20.4

2025-06-27T19:34:19.825Z,1751052859.825 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:34:19.825Z,1751052859.825 [DAT](INFO): Received a bad header
2025-06-27T19:34:19.849Z,1751052859.849 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:34:19.850Z,1751052859.850 [DAT](INFO): direction in FSK: [0.937109,0.017993,-0.348572]
2025-06-27T19:34:19.853Z,1751052859.853 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:19.853Z,1751052859.853 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:19.853Z,1751052859.853 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:19.937Z,1751052859.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:19.948Z,1751052859.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 541.033264 m,
      bearing: 248.805390 deg,
      approach rate: -0.703811 m/s,
      LOS rate: -0.005173 deg/s,
      cmd heading: 248.940205 deg,
      new cmd heading: 248.932535 deg.

2025-06-27T19:34:19.949Z,1751052859.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344692 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:20.055Z,1751052860.055 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:20.055Z,1751052860.055 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:20.055Z,1751052860.055 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:20.261Z,1751052860.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:20.267Z,1751052860.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:20.270Z,1751052860.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 540.802673 m,
      bearing: 248.803678 deg,
      approach rate: -0.697777 m/s,
      LOS rate: -0.005183 deg/s,
      cmd heading: 248.932528 deg,
      new cmd heading: 248.927390 deg.

2025-06-27T19:34:20.275Z,1751052860.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344603 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:20.307Z,1751052860.307 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:20.307Z,1751052860.307 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:20.307Z,1751052860.307 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:20.559Z,1751052860.559 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:20.559Z,1751052860.559 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:20.559Z,1751052860.559 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:20.693Z,1751052860.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:20.701Z,1751052860.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 540.482971 m,
      bearing: 248.800653 deg,
      approach rate: -0.750982 m/s,
      LOS rate: -0.007111 deg/s,
      cmd heading: 248.927392 deg,
      new cmd heading: 248.918309 deg.

2025-06-27T19:34:20.707Z,1751052860.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344444 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:20.811Z,1751052860.811 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:20.811Z,1751052860.811 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:20.811Z,1751052860.811 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:21.056Z,1751052861.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:21.059Z,1751052861.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 540.212036 m,
      bearing: 248.798071 deg,
      approach rate: -0.746123 m/s,
      LOS rate: -0.007114 deg/s,
      cmd heading: 248.918321 deg,
      new cmd heading: 248.910571 deg.

2025-06-27T19:34:21.060Z,1751052861.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344309 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:21.064Z,1751052861.064 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:21.064Z,1751052861.064 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:21.064Z,1751052861.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:21.315Z,1751052861.315 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:21.315Z,1751052861.315 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:21.315Z,1751052861.315 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:21.473Z,1751052861.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:21.479Z,1751052861.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 539.908630 m,
      bearing: 248.795159 deg,
      approach rate: -0.729742 m/s,
      LOS rate: -0.007008 deg/s,
      cmd heading: 248.910562 deg,
      new cmd heading: 248.901821 deg.

2025-06-27T19:34:21.480Z,1751052861.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344156 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:21.567Z,1751052861.567 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:21.567Z,1751052861.567 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:21.567Z,1751052861.567 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:21.819Z,1751052861.819 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:21.819Z,1751052861.819 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:21.819Z,1751052861.819 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:21.897Z,1751052861.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:21.900Z,1751052861.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 539.590759 m,
      bearing: 248.791490 deg,
      approach rate: -0.746981 m/s,
      LOS rate: -0.008627 deg/s,
      cmd heading: 248.901820 deg,
      new cmd heading: 248.890807 deg.

2025-06-27T19:34:21.901Z,1751052861.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343964 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:22.071Z,1751052862.071 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:22.071Z,1751052862.071 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:22.071Z,1751052862.071 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:22.297Z,1751052862.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:22.304Z,1751052862.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:22.315Z,1751052862.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 539.308716 m,
      bearing: 248.788232 deg,
      approach rate: -0.694232 m/s,
      LOS rate: -0.008023 deg/s,
      cmd heading: 248.890809 deg,
      new cmd heading: 248.881031 deg.

2025-06-27T19:34:22.316Z,1751052862.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343793 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:22.323Z,1751052862.323 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:22.323Z,1751052862.323 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:22.323Z,1751052862.323 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:22.575Z,1751052862.575 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:22.576Z,1751052862.576 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:22.576Z,1751052862.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:22.709Z,1751052862.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:22.712Z,1751052862.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 538.985535 m,
      bearing: 248.785007 deg,
      approach rate: -0.796631 m/s,
      LOS rate: -0.007953 deg/s,
      cmd heading: 248.881028 deg,
      new cmd heading: 248.871349 deg.

2025-06-27T19:34:22.713Z,1751052862.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343625 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:22.827Z,1751052862.827 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:22.827Z,1751052862.827 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:22.827Z,1751052862.827 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:23.076Z,1751052863.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:23.079Z,1751052863.079 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:23.079Z,1751052863.079 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:23.079Z,1751052863.079 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:23.081Z,1751052863.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 538.712158 m,
      bearing: 248.782288 deg,
      approach rate: -0.744266 m/s,
      LOS rate: -0.007408 deg/s,
      cmd heading: 248.871357 deg,
      new cmd heading: 248.863194 deg.

2025-06-27T19:34:23.083Z,1751052863.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343482 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:23.332Z,1751052863.332 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:23.332Z,1751052863.332 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:23.332Z,1751052863.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:23.499Z,1751052863.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:23.508Z,1751052863.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 538.400574 m,
      bearing: 248.779185 deg,
      approach rate: -0.737000 m/s,
      LOS rate: -0.007345 deg/s,
      cmd heading: 248.863188 deg,
      new cmd heading: 248.853872 deg.

2025-06-27T19:34:23.509Z,1751052863.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343319 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:23.586Z,1751052863.586 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:23.586Z,1751052863.586 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:23.587Z,1751052863.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:23.835Z,1751052863.835 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:23.835Z,1751052863.835 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:23.835Z,1751052863.835 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:23.924Z,1751052863.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:23.928Z,1751052863.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 538.082031 m,
      bearing: 248.776249 deg,
      approach rate: -0.750092 m/s,
      LOS rate: -0.006916 deg/s,
      cmd heading: 248.853872 deg,
      new cmd heading: 248.845060 deg.

2025-06-27T19:34:23.929Z,1751052863.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343165 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:24.087Z,1751052864.087 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:24.087Z,1751052864.087 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:24.087Z,1751052864.087 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:24.301Z,1751052864.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:24.303Z,1751052864.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:24.306Z,1751052864.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 537.800171 m,
      bearing: 248.773650 deg,
      approach rate: -0.742831 m/s,
      LOS rate: -0.006854 deg/s,
      cmd heading: 248.845047 deg,
      new cmd heading: 248.837245 deg.

2025-06-27T19:34:24.307Z,1751052864.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343029 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:24.340Z,1751052864.340 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:24.340Z,1751052864.340 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:24.340Z,1751052864.340 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:24.591Z,1751052864.591 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:24.591Z,1751052864.591 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:24.592Z,1751052864.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:24.785Z,1751052864.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:24.788Z,1751052864.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 537.443726 m,
      bearing: 248.770879 deg,
      approach rate: -0.740012 m/s,
      LOS rate: -0.005756 deg/s,
      cmd heading: 248.837233 deg,
      new cmd heading: 248.828916 deg.

2025-06-27T19:34:24.789Z,1751052864.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342884 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:24.844Z,1751052864.844 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:24.844Z,1751052864.844 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:24.844Z,1751052864.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:25.095Z,1751052865.095 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:25.095Z,1751052865.095 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:25.095Z,1751052865.095 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:25.116Z,1751052865.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:25.118Z,1751052865.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 537.199280 m,
      bearing: 248.768968 deg,
      approach rate: -0.739465 m/s,
      LOS rate: -0.005784 deg/s,
      cmd heading: 248.828928 deg,
      new cmd heading: 248.823192 deg.

2025-06-27T19:34:25.119Z,1751052865.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342784 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:25.348Z,1751052865.348 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:25.348Z,1751052865.348 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:25.348Z,1751052865.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:25.525Z,1751052865.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:25.528Z,1751052865.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 536.896606 m,
      bearing: 248.766594 deg,
      approach rate: -0.738826 m/s,
      LOS rate: -0.005799 deg/s,
      cmd heading: 248.823190 deg,
      new cmd heading: 248.816063 deg.

2025-06-27T19:34:25.529Z,1751052865.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342659 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:25.606Z,1751052865.606 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:25.606Z,1751052865.606 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:25.607Z,1751052865.607 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:25.855Z,1751052865.855 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:25.855Z,1751052865.855 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:25.855Z,1751052865.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:25.964Z,1751052865.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:25.967Z,1751052865.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 536.574585 m,
      bearing: 248.765000 deg,
      approach rate: -0.733325 m/s,
      LOS rate: -0.003631 deg/s,
      cmd heading: 248.816060 deg,
      new cmd heading: 248.811276 deg.

2025-06-27T19:34:25.968Z,1751052865.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342576 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:26.107Z,1751052866.107 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:26.107Z,1751052866.107 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:26.108Z,1751052866.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:26.305Z,1751052866.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:26.308Z,1751052866.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:26.310Z,1751052866.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 536.323364 m,
      bearing: 248.763728 deg,
      approach rate: -0.732087 m/s,
      LOS rate: -0.003707 deg/s,
      cmd heading: 248.811279 deg,
      new cmd heading: 248.807462 deg.

2025-06-27T19:34:26.311Z,1751052866.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342509 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:26.360Z,1751052866.360 [DAT](INFO): Reached modem response timeout
2025-06-27T19:34:26.360Z,1751052866.360 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:34:26.361Z,1751052866.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:26.615Z,1751052866.615 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:34:26.615Z,1751052866.615 [DAT](INFO): response not received
2025-06-27T19:34:26.617Z,1751052866.617 [DAT](INFO): DAT read: user:2570>

2025-06-27T19:34:26.622Z,1751052866.622 [DAT](INFO): DAT read: Tx time:19:34:25.4654

2025-06-27T19:34:26.625Z,1751052866.625 [DAT](INFO): Ping request sent.
2025-06-27T19:34:26.625Z,1751052866.625 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:26.626Z,1751052866.626 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:26.632Z,1751052866.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007780
2025-06-27T19:34:26.762Z,1751052866.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:26.764Z,1751052866.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 535.998596 m,
      bearing: 248.762076 deg,
      approach rate: -0.715383 m/s,
      LOS rate: -0.003641 deg/s,
      cmd heading: 248.807454 deg,
      new cmd heading: 248.802495 deg.

2025-06-27T19:34:26.765Z,1751052866.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342423 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:26.866Z,1751052866.866 [DAT](INFO): DAT read: TxSync time:19:34:25.4646

2025-06-27T19:34:26.867Z,1751052866.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243290
2025-06-27T19:34:27.115Z,1751052867.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491533
2025-06-27T19:34:27.139Z,1751052867.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:27.141Z,1751052867.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 535.745972 m,
      bearing: 248.760792 deg,
      approach rate: -0.669948 m/s,
      LOS rate: -0.003407 deg/s,
      cmd heading: 248.802509 deg,
      new cmd heading: 248.798654 deg.

2025-06-27T19:34:27.143Z,1751052867.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342356 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:27.368Z,1751052867.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743962
2025-06-27T19:34:27.519Z,1751052867.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:27.522Z,1751052867.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 535.456848 m,
      bearing: 248.759315 deg,
      approach rate: -0.759626 m/s,
      LOS rate: -0.003884 deg/s,
      cmd heading: 248.798656 deg,
      new cmd heading: 248.794222 deg.

2025-06-27T19:34:27.523Z,1751052867.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342278 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:27.626Z,1751052867.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001258
2025-06-27T19:34:27.875Z,1751052867.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251552
2025-06-27T19:34:27.949Z,1751052867.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:27.953Z,1751052867.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 535.142578 m,
      bearing: 248.757826 deg,
      approach rate: -0.730684 m/s,
      LOS rate: -0.003464 deg/s,
      cmd heading: 248.794230 deg,
      new cmd heading: 248.789761 deg.

2025-06-27T19:34:27.954Z,1751052867.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342200 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:28.127Z,1751052868.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503564
2025-06-27T19:34:28.328Z,1751052868.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:28.330Z,1751052868.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:28.333Z,1751052868.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 534.864807 m,
      bearing: 248.756533 deg,
      approach rate: -0.729962 m/s,
      LOS rate: -0.003398 deg/s,
      cmd heading: 248.789750 deg,
      new cmd heading: 248.785871 deg.

2025-06-27T19:34:28.334Z,1751052868.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342133 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:28.380Z,1751052868.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755960
2025-06-27T19:34:28.636Z,1751052868.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011246
2025-06-27T19:34:28.782Z,1751052868.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:28.785Z,1751052868.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 534.532959 m,
      bearing: 248.755373 deg,
      approach rate: -0.734073 m/s,
      LOS rate: -0.002569 deg/s,
      cmd heading: 248.785870 deg,
      new cmd heading: 248.782386 deg.

2025-06-27T19:34:28.786Z,1751052868.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342072 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:28.884Z,1751052868.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259752
2025-06-27T19:34:29.135Z,1751052869.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511408
2025-06-27T19:34:29.160Z,1751052869.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:29.163Z,1751052869.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 534.255676 m,
      bearing: 248.754402 deg,
      approach rate: -0.734061 m/s,
      LOS rate: -0.002571 deg/s,
      cmd heading: 248.782373 deg,
      new cmd heading: 248.779459 deg.

2025-06-27T19:34:29.164Z,1751052869.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342021 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:29.389Z,1751052869.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764770
2025-06-27T19:34:29.596Z,1751052869.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:29.599Z,1751052869.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 533.938416 m,
      bearing: 248.753329 deg,
      approach rate: -0.730400 m/s,
      LOS rate: -0.002471 deg/s,
      cmd heading: 248.779450 deg,
      new cmd heading: 248.776230 deg.

2025-06-27T19:34:29.600Z,1751052869.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341964 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:29.642Z,1751052869.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017981
2025-06-27T19:34:29.891Z,1751052869.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267399
2025-06-27T19:34:30.043Z,1751052870.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:30.046Z,1751052870.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 533.608582 m,
      bearing: 248.752794 deg,
      approach rate: -0.734103 m/s,
      LOS rate: -0.001192 deg/s,
      cmd heading: 248.776226 deg,
      new cmd heading: 248.774620 deg.

2025-06-27T19:34:30.063Z,1751052870.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341936 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:30.144Z,1751052870.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520082
2025-06-27T19:34:30.395Z,1751052870.395 [DAT](INFO): DAT read: Rx Time:19:34:28.5974

2025-06-27T19:34:30.396Z,1751052870.396 [DAT](INFO): Rx dataTimestamp_ set to:1751052870.395532
2025-06-27T19:34:30.396Z,1751052870.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772500
2025-06-27T19:34:30.408Z,1751052870.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:30.410Z,1751052870.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:30.417Z,1751052870.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 533.340576 m,
      bearing: 248.752303 deg,
      approach rate: -0.730445 m/s,
      LOS rate: -0.001338 deg/s,
      cmd heading: 248.774614 deg,
      new cmd heading: 248.773141 deg.

2025-06-27T19:34:30.419Z,1751052870.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341910 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:30.650Z,1751052870.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025611
2025-06-27T19:34:30.851Z,1751052870.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 554.45 m.
2025-06-27T19:34:30.853Z,1751052870.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 554.446350 m,
      nav range: 533.023621 m,
      bearing: 248.751573 deg,
      approach rate: -0.726506 m/s,
      LOS rate: -0.001675 deg/s,
      cmd heading: 248.773139 deg,
      new cmd heading: 248.770946 deg.

2025-06-27T19:34:30.859Z,1751052870.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341872 target range: 554.446350 and range: 559.50 m.
2025-06-27T19:34:30.909Z,1751052870.909 [DAT](INFO): DAT read: 19:34:28.5974 LVL= 27888, 30193, 31138, 32755, AGC= 72, IDX= 265, 0.10,-0.131,-1.759,-0.328,-0.814, PHS= 0.771,-0.897, 0.483, RAW= 140.7,  -4.7, CAL= 146.2, -14.1, ROT=   3.8,  14.1

2025-06-27T19:34:30.910Z,1751052870.910 [DAT](INFO): got valid direction response:
 19:34:28.5974 LVL= 27888, 30193, 31138, 32755, AGC= 72, IDX= 265, 0.10,-0.131,-1.759,-0.328,-0.814, PHS= 0.771,-0.897, 0.483, RAW= 140.7,  -4.7, CAL= 146.2, -14.1, ROT=   3.8,  14.1

2025-06-27T19:34:30.911Z,1751052870.911 [DAT](INFO): DAT read: Bearing   3.8,  14.1 (Local)

2025-06-27T19:34:30.912Z,1751052870.912 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  14.1 (Local)

2025-06-27T19:34:30.914Z,1751052870.914 [DAT](INFO): DAT read: Range 10 to 50 : 545.8 m  (Round-trip  727.8 ms) speed  0.8 m/s

2025-06-27T19:34:30.915Z,1751052870.915 [DAT](INFO): DAT read: user:2571>

2025-06-27T19:34:30.916Z,1751052870.916 [DAT](INFO): DAT read: Tx time:19:34:29.7155

2025-06-27T19:34:30.917Z,1751052870.917 [DAT](INFO): Ping request sent.
2025-06-27T19:34:30.917Z,1751052870.917 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:30.917Z,1751052870.917 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:30.920Z,1751052870.920 [DAT](INFO): direction in FSK: [0.967740,0.064277,-0.243615]
2025-06-27T19:34:30.921Z,1751052870.921 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:30.921Z,1751052870.921 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:30.925Z,1751052870.925 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:30.926Z,1751052870.926 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:31.156Z,1751052871.156 [DAT](INFO): DAT read: TxSync time:19:34:29.7147

2025-06-27T19:34:31.240Z,1751052871.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 545.799988 m,
      deltaT: 26.222739 s,
      deltaX: -13.700012 m,
      approachRate: -0.522448 m/s,
      rangeRepo size: 4

2025-06-27T19:34:31.243Z,1751052871.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 540.884827 m,
      bearing: 252.738382 deg,
      lat: 36.906465 deg,
      lon: -122.116326 deg,
      deltaT: 26.222739 s,
      deltaX: -13.561523 m,
      approachRate: -0.517167 m/s,
      posRepo size: 4

2025-06-27T19:34:31.244Z,1751052871.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:31.246Z,1751052871.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 532.729614 m,
      bearing: 248.750873 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001675 deg/s,
      cmd heading: 248.770953 deg,
      new cmd heading: 248.768977 deg.

2025-06-27T19:34:31.247Z,1751052871.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341838 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:31.614Z,1751052871.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:31.617Z,1751052871.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 532.449463 m,
      bearing: 248.750207 deg,
      approach rate: -0.748415 m/s,
      LOS rate: -0.001778 deg/s,
      cmd heading: 248.768986 deg,
      new cmd heading: 248.766989 deg.

2025-06-27T19:34:31.618Z,1751052871.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341803 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:32.021Z,1751052872.021 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711353944,35.0, +10.0,   0.0,1490.0, ,  0.00, 135.05, 122.83, 116.05, 143.19
2025-06-27T19:34:32.038Z,1751052872.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:32.061Z,1751052872.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 532.135193 m,
      bearing: 248.749470 deg,
      approach rate: -0.741731 m/s,
      LOS rate: -0.001742 deg/s,
      cmd heading: 248.766992 deg,
      new cmd heading: 248.764778 deg.

2025-06-27T19:34:32.067Z,1751052872.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341764 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:32.421Z,1751052872.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:32.424Z,1751052872.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:32.426Z,1751052872.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 531.849854 m,
      bearing: 248.748751 deg,
      approach rate: -0.739570 m/s,
      LOS rate: -0.001865 deg/s,
      cmd heading: 248.764779 deg,
      new cmd heading: 248.762620 deg.

2025-06-27T19:34:32.427Z,1751052872.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341727 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:32.669Z,1751052872.669 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:32.670Z,1751052872.670 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:32.671Z,1751052872.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:32.860Z,1751052872.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:32.867Z,1751052872.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 531.525269 m,
      bearing: 248.747937 deg,
      approach rate: -0.743910 m/s,
      LOS rate: -0.001865 deg/s,
      cmd heading: 248.762620 deg,
      new cmd heading: 248.760179 deg.

2025-06-27T19:34:32.868Z,1751052872.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341684 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:32.921Z,1751052872.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003280
2025-06-27T19:34:33.171Z,1751052873.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254396
2025-06-27T19:34:33.230Z,1751052873.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:33.235Z,1751052873.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 531.245239 m,
      bearing: 248.747203 deg,
      approach rate: -0.757456 m/s,
      LOS rate: -0.001987 deg/s,
      cmd heading: 248.760189 deg,
      new cmd heading: 248.757984 deg.

2025-06-27T19:34:33.237Z,1751052873.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341646 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:33.423Z,1751052873.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506454
2025-06-27T19:34:33.629Z,1751052873.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:33.631Z,1751052873.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 530.946960 m,
      bearing: 248.746388 deg,
      approach rate: -0.747791 m/s,
      LOS rate: -0.002045 deg/s,
      cmd heading: 248.757976 deg,
      new cmd heading: 248.755528 deg.

2025-06-27T19:34:33.632Z,1751052873.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341603 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:33.678Z,1751052873.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760822
2025-06-27T19:34:33.927Z,1751052873.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010396
2025-06-27T19:34:33.975Z,1751052873.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:34:34.064Z,1751052874.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:34.067Z,1751052874.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 530.621155 m,
      bearing: 248.745209 deg,
      approach rate: -0.747751 m/s,
      LOS rate: -0.002706 deg/s,
      cmd heading: 248.755517 deg,
      new cmd heading: 248.751980 deg.

2025-06-27T19:34:34.068Z,1751052874.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341541 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:34.070Z,1751052874.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 54.778584 m.
2025-06-27T19:34:34.180Z,1751052874.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263055
2025-06-27T19:34:34.431Z,1751052874.431 [DAT](INFO): DAT read: Rx Time:19:34:32.8514

2025-06-27T19:34:34.432Z,1751052874.432 [DAT](INFO): Rx dataTimestamp_ set to:1751052874.431649
2025-06-27T19:34:34.432Z,1751052874.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515542
2025-06-27T19:34:34.437Z,1751052874.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:34.444Z,1751052874.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:34.447Z,1751052874.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 530.343079 m,
      bearing: 248.744188 deg,
      approach rate: -0.732653 m/s,
      LOS rate: -0.002693 deg/s,
      cmd heading: 248.751993 deg,
      new cmd heading: 248.748927 deg.

2025-06-27T19:34:34.448Z,1751052874.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341488 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:34.686Z,1751052874.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768437
2025-06-27T19:34:34.877Z,1751052874.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.88 m.
2025-06-27T19:34:34.880Z,1751052874.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.884827 m,
      nav range: 530.009521 m,
      bearing: 248.742710 deg,
      approach rate: -0.770260 m/s,
      LOS rate: -0.003414 deg/s,
      cmd heading: 248.748933 deg,
      new cmd heading: 248.744498 deg.

2025-06-27T19:34:34.881Z,1751052874.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341411 target range: 540.884827 and range: 545.80 m.
2025-06-27T19:34:34.940Z,1751052874.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021928
2025-06-27T19:34:34.982Z,1751052874.982 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:34:35.193Z,1751052875.193 [DAT](INFO): DAT read: 19:34:32.8514 LVL= 25520, 30705, 25410, 32755, AGC= 70, IDX= 482,-0.34,-1.758, 2.862,-1.815,-2.519, PHS= 0.850,-0.855, 0.702, RAW= 145.5,  -8.6, CAL= 151.8, -17.4, ROT= 358.2,  17.4

2025-06-27T19:34:35.195Z,1751052875.195 [DAT](INFO): got valid direction response:
 19:34:32.8514 LVL= 25520, 30705, 25410, 32755, AGC= 70, IDX= 482,-0.34,-1.758, 2.862,-1.815,-2.519, PHS= 0.850,-0.855, 0.702, RAW= 145.5,  -8.6, CAL= 151.8, -17.4, ROT= 358.2,  17.4

2025-06-27T19:34:35.197Z,1751052875.197 [DAT](INFO): DAT read: Bearing 358.2,  17.4 (Local)

2025-06-27T19:34:35.198Z,1751052875.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  17.4 (Local)

2025-06-27T19:34:35.201Z,1751052875.201 [DAT](INFO): DAT read: Range 10 to 50 : 548.8 m  (Round-trip  731.8 ms) speed  0.6 m/s

2025-06-27T19:34:35.202Z,1751052875.202 [DAT](INFO): DAT read: user:2572>

2025-06-27T19:34:35.203Z,1751052875.203 [DAT](INFO): DAT read: Tx time:19:34:33.9655

2025-06-27T19:34:35.204Z,1751052875.204 [DAT](INFO): Ping request sent.
2025-06-27T19:34:35.204Z,1751052875.204 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:35.204Z,1751052875.204 [DAT](INFO): DAT read: TxSync time:19:34:33.9647

2025-06-27T19:34:35.205Z,1751052875.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:35.206Z,1751052875.206 [DAT](INFO): direction in FSK: [0.953769,-0.029973,-0.299041]
2025-06-27T19:34:35.206Z,1751052875.206 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:35.207Z,1751052875.207 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:35.210Z,1751052875.210 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:35.210Z,1751052875.210 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:35.311Z,1751052875.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 548.799988 m,
      deltaT: 4.285302 s,
      deltaX: 3.000000 m,
      approachRate: 0.700067 m/s,
      rangeRepo size: 4

2025-06-27T19:34:35.313Z,1751052875.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 543.859253 m,
      bearing: 248.122028 deg,
      lat: 36.906424 deg,
      lon: -122.116374 deg,
      deltaT: 4.285302 s,
      deltaX: 2.974426 m,
      approachRate: 0.694100 m/s,
      posRepo size: 4

2025-06-27T19:34:35.318Z,1751052875.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:35.321Z,1751052875.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 535.326233 m,
      bearing: 248.458136 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003414 deg/s,
      cmd heading: 248.744507 deg,
      new cmd heading: 248.740107 deg.

2025-06-27T19:34:35.322Z,1751052875.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341334 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:35.654Z,1751052875.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:35.657Z,1751052875.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 535.049011 m,
      bearing: 248.456814 deg,
      approach rate: -0.797223 m/s,
      LOS rate: -0.003803 deg/s,
      cmd heading: 248.740108 deg,
      new cmd heading: 248.736141 deg.

2025-06-27T19:34:35.658Z,1751052875.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341265 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:36.084Z,1751052876.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:36.087Z,1751052876.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 534.715210 m,
      bearing: 248.454432 deg,
      approach rate: -0.776302 m/s,
      LOS rate: -0.005545 deg/s,
      cmd heading: 248.736146 deg,
      new cmd heading: 248.728994 deg.

2025-06-27T19:34:36.088Z,1751052876.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341140 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:36.472Z,1751052876.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:36.494Z,1751052876.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:36.497Z,1751052876.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 534.411743 m,
      bearing: 248.452263 deg,
      approach rate: -0.777909 m/s,
      LOS rate: -0.005562 deg/s,
      cmd heading: 248.728988 deg,
      new cmd heading: 248.722479 deg.

2025-06-27T19:34:36.502Z,1751052876.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341026 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:36.699Z,1751052876.699 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:36.699Z,1751052876.699 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:36.699Z,1751052876.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:36.894Z,1751052876.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:36.897Z,1751052876.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 534.090698 m,
      bearing: 248.449533 deg,
      approach rate: -0.764682 m/s,
      LOS rate: -0.006508 deg/s,
      cmd heading: 248.722486 deg,
      new cmd heading: 248.714290 deg.

2025-06-27T19:34:36.898Z,1751052876.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340883 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:36.952Z,1751052876.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747787
2025-06-27T19:34:37.203Z,1751052877.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999663
2025-06-27T19:34:37.312Z,1751052877.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:37.315Z,1751052877.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 533.769958 m,
      bearing: 248.446806 deg,
      approach rate: -0.767019 m/s,
      LOS rate: -0.006523 deg/s,
      cmd heading: 248.714290 deg,
      new cmd heading: 248.706107 deg.

2025-06-27T19:34:37.316Z,1751052877.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340740 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:37.456Z,1751052877.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251840
2025-06-27T19:34:37.704Z,1751052877.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:37.707Z,1751052877.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503785
2025-06-27T19:34:37.722Z,1751052877.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 533.470032 m,
      bearing: 248.444258 deg,
      approach rate: -0.766633 m/s,
      LOS rate: -0.006518 deg/s,
      cmd heading: 248.706094 deg,
      new cmd heading: 248.698443 deg.

2025-06-27T19:34:37.723Z,1751052877.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340607 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:37.960Z,1751052877.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755789
2025-06-27T19:34:38.191Z,1751052878.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:38.194Z,1751052878.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 533.091675 m,
      bearing: 248.440970 deg,
      approach rate: -0.777618 m/s,
      LOS rate: -0.006761 deg/s,
      cmd heading: 248.698444 deg,
      new cmd heading: 248.688574 deg.

2025-06-27T19:34:38.195Z,1751052878.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340435 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:38.211Z,1751052878.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007656
2025-06-27T19:34:38.463Z,1751052878.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259658
2025-06-27T19:34:38.559Z,1751052878.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:38.561Z,1751052878.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:38.564Z,1751052878.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 532.803040 m,
      bearing: 248.438467 deg,
      approach rate: -0.777341 m/s,
      LOS rate: -0.006744 deg/s,
      cmd heading: 248.688581 deg,
      new cmd heading: 248.681068 deg.

2025-06-27T19:34:38.565Z,1751052878.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340303 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:38.717Z,1751052878.717 [DAT](INFO): DAT read: Rx Time:19:34:37.0805

2025-06-27T19:34:38.718Z,1751052878.718 [DAT](INFO): Rx dataTimestamp_ set to:1751052878.717637
2025-06-27T19:34:38.719Z,1751052878.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514868
2025-06-27T19:34:38.967Z,1751052878.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763707
2025-06-27T19:34:38.968Z,1751052878.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.86 m.
2025-06-27T19:34:38.971Z,1751052878.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 543.859253 m,
      nav range: 532.498230 m,
      bearing: 248.435296 deg,
      approach rate: -0.752808 m/s,
      LOS rate: -0.007837 deg/s,
      cmd heading: 248.681068 deg,
      new cmd heading: 248.671548 deg.

2025-06-27T19:34:38.972Z,1751052878.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340137 target range: 543.859253 and range: 548.80 m.
2025-06-27T19:34:39.234Z,1751052879.234 [DAT](INFO): DAT read: 19:34:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 307, 0.21, 2.915, 1.518, 2.834, 2.270, PHS= 0.733,-0.706, 0.561, RAW= 143.7,  -8.7, CAL= 150.3, -17.8, ROT= 359.7,  17.8

2025-06-27T19:34:39.236Z,1751052879.236 [DAT](INFO): got valid direction response:
 19:34:37.0805 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 307, 0.21, 2.915, 1.518, 2.834, 2.270, PHS= 0.733,-0.706, 0.561, RAW= 143.7,  -8.7, CAL= 150.3, -17.8, ROT= 359.7,  17.8

2025-06-27T19:34:39.237Z,1751052879.237 [DAT](INFO): DAT read: Bearing 359.7,  17.8 (Local)

2025-06-27T19:34:39.238Z,1751052879.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  17.8 (Local)

2025-06-27T19:34:39.239Z,1751052879.239 [DAT](INFO): DAT read: Range 10 to 50 : 533.1 m  (Round-trip  710.9 ms) speed  0.3 m/s

2025-06-27T19:34:39.240Z,1751052879.240 [DAT](INFO): DAT read: user:2573>

2025-06-27T19:34:39.241Z,1751052879.241 [DAT](INFO): DAT read: Tx time:19:34:38.1655

2025-06-27T19:34:39.241Z,1751052879.241 [DAT](INFO): Ping request sent.
2025-06-27T19:34:39.241Z,1751052879.241 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:39.242Z,1751052879.242 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:39.295Z,1751052879.295 [DAT](INFO): direction in FSK: [0.952116,-0.004985,-0.305695]
2025-06-27T19:34:39.295Z,1751052879.295 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:39.295Z,1751052879.295 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:39.307Z,1751052879.307 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:39.307Z,1751052879.307 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:39.416Z,1751052879.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 533.099976 m,
      deltaT: 4.035069 s,
      deltaX: -15.700012 m,
      approachRate: -3.890891 m/s,
      rangeRepo size: 4

2025-06-27T19:34:39.423Z,1751052879.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 528.302307 m,
      bearing: 249.476414 deg,
      lat: 36.906424 deg,
      lon: -122.116374 deg,
      deltaT: 4.035069 s,
      deltaX: -15.556946 m,
      approachRate: -3.855435 m/s,
      posRepo size: 4

2025-06-27T19:34:39.424Z,1751052879.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:39.431Z,1751052879.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 532.185303 m,
      bearing: 248.432040 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007837 deg/s,
      cmd heading: 248.671560 deg,
      new cmd heading: 248.660996 deg.

2025-06-27T19:34:39.432Z,1751052879.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339953 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:39.474Z,1751052879.474 [DAT](INFO): DAT read: TxSync time:19:34:38.1647

2025-06-27T19:34:39.726Z,1751052879.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:39.729Z,1751052879.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 531.926941 m,
      bearing: 248.429352 deg,
      approach rate: -0.833068 m/s,
      LOS rate: -0.008672 deg/s,
      cmd heading: 248.660987 deg,
      new cmd heading: 248.652919 deg.

2025-06-27T19:34:39.730Z,1751052879.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339812 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:40.155Z,1751052880.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:40.157Z,1751052880.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 531.612244 m,
      bearing: 248.426260 deg,
      approach rate: -0.733856 m/s,
      LOS rate: -0.007213 deg/s,
      cmd heading: 248.652927 deg,
      new cmd heading: 248.643647 deg.

2025-06-27T19:34:40.159Z,1751052880.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339650 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:40.533Z,1751052880.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:40.536Z,1751052880.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 531.335083 m,
      bearing: 248.423495 deg,
      approach rate: -0.732582 m/s,
      LOS rate: -0.007313 deg/s,
      cmd heading: 248.643638 deg,
      new cmd heading: 248.635338 deg.

2025-06-27T19:34:40.537Z,1751052880.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339505 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:40.954Z,1751052880.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:40.956Z,1751052880.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:40.959Z,1751052880.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 531.026245 m,
      bearing: 248.419663 deg,
      approach rate: -0.729829 m/s,
      LOS rate: -0.009061 deg/s,
      cmd heading: 248.635333 deg,
      new cmd heading: 248.623831 deg.

2025-06-27T19:34:40.960Z,1751052880.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339304 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:40.000Z,1751052881.000 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:40.000Z,1751052881.000 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:41.000Z,1751052881.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:41.251Z,1751052881.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010073
2025-06-27T19:34:41.335Z,1751052881.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:41.337Z,1751052881.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 530.749390 m,
      bearing: 248.416177 deg,
      approach rate: -0.731727 m/s,
      LOS rate: -0.009220 deg/s,
      cmd heading: 248.623831 deg,
      new cmd heading: 248.613366 deg.

2025-06-27T19:34:41.338Z,1751052881.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339122 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:41.503Z,1751052881.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261994
2025-06-27T19:34:41.755Z,1751052881.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514205
2025-06-27T19:34:41.756Z,1751052881.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:41.763Z,1751052881.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 530.454041 m,
      bearing: 248.412425 deg,
      approach rate: -0.709969 m/s,
      LOS rate: -0.009023 deg/s,
      cmd heading: 248.613367 deg,
      new cmd heading: 248.602106 deg.

2025-06-27T19:34:41.764Z,1751052881.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338925 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:42.008Z,1751052882.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766322
2025-06-27T19:34:42.164Z,1751052882.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:42.188Z,1751052882.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 530.150635 m,
      bearing: 248.408663 deg,
      approach rate: -0.733002 m/s,
      LOS rate: -0.009094 deg/s,
      cmd heading: 248.602111 deg,
      new cmd heading: 248.590818 deg.

2025-06-27T19:34:42.189Z,1751052882.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338728 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:42.277Z,1751052882.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020340
2025-06-27T19:34:42.511Z,1751052882.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270011
2025-06-27T19:34:42.552Z,1751052882.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:42.555Z,1751052882.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 529.874512 m,
      bearing: 248.405216 deg,
      approach rate: -0.712783 m/s,
      LOS rate: -0.008903 deg/s,
      cmd heading: 248.590827 deg,
      new cmd heading: 248.580480 deg.

2025-06-27T19:34:42.556Z,1751052882.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338548 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:42.763Z,1751052882.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522025
2025-06-27T19:34:42.969Z,1751052882.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:42.971Z,1751052882.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:42.974Z,1751052882.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 529.574097 m,
      bearing: 248.401656 deg,
      approach rate: -0.715925 m/s,
      LOS rate: -0.008489 deg/s,
      cmd heading: 248.580473 deg,
      new cmd heading: 248.569787 deg.

2025-06-27T19:34:42.975Z,1751052882.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338361 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:43.016Z,1751052883.016 [DAT](INFO): DAT read: Rx Time:19:34:41.2846

2025-06-27T19:34:43.017Z,1751052883.017 [DAT](INFO): Rx dataTimestamp_ set to:1751052883.016435
2025-06-27T19:34:43.018Z,1751052883.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776348
2025-06-27T19:34:43.267Z,1751052883.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026101
2025-06-27T19:34:43.492Z,1751052883.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.30 m.
2025-06-27T19:34:43.495Z,1751052883.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.302307 m,
      nav range: 529.200256 m,
      bearing: 248.397208 deg,
      approach rate: -0.718310 m/s,
      LOS rate: -0.008551 deg/s,
      cmd heading: 248.569790 deg,
      new cmd heading: 248.556439 deg.

2025-06-27T19:34:43.496Z,1751052883.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338128 target range: 528.302307 and range: 533.10 m.
2025-06-27T19:34:43.526Z,1751052883.526 [DAT](INFO): DAT read: 19:34:41.2846 LVL= 22304, 24113, 25074, 27699, AGC= 72, IDX= 486,-0.10, 0.565,-1.141, 0.209,-0.157, PHS= 0.810,-0.937, 0.364, RAW= 135.7,  -3.1, CAL= 141.2, -12.8, ROT=   8.8,  12.8

2025-06-27T19:34:43.528Z,1751052883.528 [DAT](INFO): got valid direction response:
 19:34:41.2846 LVL= 22304, 24113, 25074, 27699, AGC= 72, IDX= 486,-0.10, 0.565,-1.141, 0.209,-0.157, PHS= 0.810,-0.937, 0.364, RAW= 135.7,  -3.1, CAL= 141.2, -12.8, ROT=   8.8,  12.8

2025-06-27T19:34:43.529Z,1751052883.529 [DAT](INFO): DAT read: Bearing   8.8,  12.8 (Local)

2025-06-27T19:34:43.530Z,1751052883.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.8,  12.8 (Local)

2025-06-27T19:34:43.532Z,1751052883.532 [DAT](INFO): DAT read: Range 10 to 50 : 536.2 m  (Round-trip  715.0 ms) speed  0.6 m/s

2025-06-27T19:34:43.534Z,1751052883.534 [DAT](INFO): DAT read: user:2574>

2025-06-27T19:34:43.535Z,1751052883.535 [DAT](INFO): DAT read: Tx time:19:34:42.3655

2025-06-27T19:34:43.535Z,1751052883.535 [DAT](INFO): Ping request sent.
2025-06-27T19:34:43.535Z,1751052883.535 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:43.536Z,1751052883.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:43.537Z,1751052883.537 [DAT](INFO): direction in FSK: [0.963670,0.149184,-0.221548]
2025-06-27T19:34:43.538Z,1751052883.538 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:43.547Z,1751052883.547 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:43.552Z,1751052883.552 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:43.552Z,1751052883.552 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:43.772Z,1751052883.772 [DAT](INFO): DAT read: TxSync time:19:34:42.3647

2025-06-27T19:34:43.798Z,1751052883.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 536.200012 m,
      deltaT: 4.296957 s,
      deltaX: 3.100037 m,
      approachRate: 0.721449 m/s,
      rangeRepo size: 4

2025-06-27T19:34:43.811Z,1751052883.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 531.376892 m,
      bearing: 258.327317 deg,
      lat: 36.906556 deg,
      lon: -122.116378 deg,
      deltaT: 4.296957 s,
      deltaX: 3.074585 m,
      approachRate: 0.715526 m/s,
      posRepo size: 4

2025-06-27T19:34:43.812Z,1751052883.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:43.818Z,1751052883.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 524.084778 m,
      bearing: 249.897056 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008551 deg/s,
      cmd heading: 248.556431 deg,
      new cmd heading: 248.548604 deg.

2025-06-27T19:34:43.819Z,1751052883.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337992 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:44.208Z,1751052884.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:44.211Z,1751052884.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 523.773193 m,
      bearing: 249.894570 deg,
      approach rate: -0.757761 m/s,
      LOS rate: -0.006048 deg/s,
      cmd heading: 248.548617 deg,
      new cmd heading: 248.541156 deg.

2025-06-27T19:34:44.212Z,1751052884.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337862 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:44.587Z,1751052884.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:44.589Z,1751052884.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 523.509766 m,
      bearing: 249.892493 deg,
      approach rate: -0.696000 m/s,
      LOS rate: -0.005491 deg/s,
      cmd heading: 248.541158 deg,
      new cmd heading: 248.534923 deg.

2025-06-27T19:34:44.591Z,1751052884.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337753 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:45.029Z,1751052885.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:45.031Z,1751052885.031 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:45.031Z,1751052885.031 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:45.032Z,1751052885.032 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:45.036Z,1751052885.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:45.042Z,1751052885.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 523.198608 m,
      bearing: 249.891054 deg,
      approach rate: -0.693041 m/s,
      LOS rate: -0.003207 deg/s,
      cmd heading: 248.534929 deg,
      new cmd heading: 248.530609 deg.

2025-06-27T19:34:45.043Z,1751052885.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337677 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:45.283Z,1751052885.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747936
2025-06-27T19:34:45.384Z,1751052885.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:45.387Z,1751052885.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 522.912415 m,
      bearing: 249.889697 deg,
      approach rate: -0.820651 m/s,
      LOS rate: -0.003895 deg/s,
      cmd heading: 248.530612 deg,
      new cmd heading: 248.526538 deg.

2025-06-27T19:34:45.388Z,1751052885.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337606 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:45.535Z,1751052885.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999837
2025-06-27T19:34:45.787Z,1751052885.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251917
2025-06-27T19:34:45.803Z,1751052885.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:45.805Z,1751052885.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 522.615662 m,
      bearing: 249.888264 deg,
      approach rate: -0.737624 m/s,
      LOS rate: -0.003564 deg/s,
      cmd heading: 248.526542 deg,
      new cmd heading: 248.522240 deg.

2025-06-27T19:34:45.807Z,1751052885.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337532 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:46.039Z,1751052886.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503854
2025-06-27T19:34:46.233Z,1751052886.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:46.264Z,1751052886.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 522.278748 m,
      bearing: 249.887544 deg,
      approach rate: -0.754470 m/s,
      LOS rate: -0.001613 deg/s,
      cmd heading: 248.522252 deg,
      new cmd heading: 248.520091 deg.

2025-06-27T19:34:46.265Z,1751052886.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337494 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:46.292Z,1751052886.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756143
2025-06-27T19:34:46.543Z,1751052886.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007797
2025-06-27T19:34:46.627Z,1751052886.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:46.629Z,1751052886.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 522.000244 m,
      bearing: 249.886935 deg,
      approach rate: -0.708319 m/s,
      LOS rate: -0.001550 deg/s,
      cmd heading: 248.520094 deg,
      new cmd heading: 248.518266 deg.

2025-06-27T19:34:46.630Z,1751052886.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337462 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:46.796Z,1751052886.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260609
2025-06-27T19:34:47.048Z,1751052887.048 [DAT](INFO): DAT read: Rx Time:19:34:45.4810

2025-06-27T19:34:47.048Z,1751052887.048 [DAT](INFO): Rx dataTimestamp_ set to:1751052887.047772
2025-06-27T19:34:47.049Z,1751052887.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513123
2025-06-27T19:34:47.056Z,1751052887.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:47.058Z,1751052887.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:47.061Z,1751052887.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 521.650818 m,
      bearing: 249.886212 deg,
      approach rate: -0.809550 m/s,
      LOS rate: -0.001675 deg/s,
      cmd heading: 248.518263 deg,
      new cmd heading: 248.516095 deg.

2025-06-27T19:34:47.062Z,1751052887.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337424 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:47.300Z,1751052887.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764222
2025-06-27T19:34:47.408Z,1751052887.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 531.38 m.
2025-06-27T19:34:47.412Z,1751052887.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 531.376892 m,
      nav range: 521.378052 m,
      bearing: 249.885657 deg,
      approach rate: -0.778324 m/s,
      LOS rate: -0.001585 deg/s,
      cmd heading: 248.516105 deg,
      new cmd heading: 248.514439 deg.

2025-06-27T19:34:47.413Z,1751052887.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337395 target range: 531.376892 and range: 536.20 m.
2025-06-27T19:34:47.551Z,1751052887.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015910
2025-06-27T19:34:47.810Z,1751052887.810 [DAT](INFO): DAT read: 19:34:45.4810 LVL= 26864, 25057, 22674, 31187, AGC= 69, IDX= 399,-0.08,-1.329,-2.839,-1.400,-1.980, PHS= 0.740,-0.811, 0.577, RAW= 144.5,  -6.9, CAL= 150.5, -15.9, ROT= 359.5,  15.9

2025-06-27T19:34:47.811Z,1751052887.811 [DAT](INFO): got valid direction response:
 19:34:45.4810 LVL= 26864, 25057, 22674, 31187, AGC= 69, IDX= 399,-0.08,-1.329,-2.839,-1.400,-1.980, PHS= 0.740,-0.811, 0.577, RAW= 144.5,  -6.9, CAL= 150.5, -15.9, ROT= 359.5,  15.9

2025-06-27T19:34:47.812Z,1751052887.812 [DAT](INFO): DAT read: Bearing 359.5,  15.9 (Local)

2025-06-27T19:34:47.812Z,1751052887.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  15.9 (Local)

2025-06-27T19:34:47.814Z,1751052887.814 [DAT](INFO): DAT read: Range 10 to 50 : 533.4 m  (Round-trip  711.3 ms) speed  0.6 m/s

2025-06-27T19:34:47.815Z,1751052887.815 [DAT](INFO): DAT read: user:2575>

2025-06-27T19:34:47.816Z,1751052887.816 [DAT](INFO): DAT read: Tx time:19:34:46.5656

2025-06-27T19:34:47.816Z,1751052887.816 [DAT](INFO): Ping request sent.
2025-06-27T19:34:47.816Z,1751052887.816 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:47.817Z,1751052887.817 [DAT](INFO): DAT read: TxSync time:19:34:46.5648

2025-06-27T19:34:47.817Z,1751052887.817 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:34:47.823Z,1751052887.823 [DAT](INFO): direction in FSK: [0.961705,-0.008392,-0.273959]
2025-06-27T19:34:47.824Z,1751052887.824 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:47.824Z,1751052887.824 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:47.831Z,1751052887.831 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:47.831Z,1751052887.831 [DAT](INFO): publishing direction and range info
2025-06-27T19:34:47.848Z,1751052887.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 533.400024 m,
      deltaT: 4.284073 s,
      deltaX: -2.799988 m,
      approachRate: -0.653581 m/s,
      rangeRepo size: 4

2025-06-27T19:34:47.875Z,1751052887.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 528.600525 m,
      bearing: 249.410516 deg,
      lat: 36.906559 deg,
      lon: -122.116378 deg,
      deltaT: 4.284073 s,
      deltaX: -2.776367 m,
      approachRate: -0.648067 m/s,
      posRepo size: 4

2025-06-27T19:34:47.876Z,1751052887.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:47.882Z,1751052887.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 520.928406 m,
      bearing: 249.920006 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001585 deg/s,
      cmd heading: 248.514439 deg,
      new cmd heading: 248.512350 deg.

2025-06-27T19:34:47.894Z,1751052887.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337359 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:48.405Z,1751052888.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:48.407Z,1751052888.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 520.486511 m,
      bearing: 249.919808 deg,
      approach rate: -0.793741 m/s,
      LOS rate: -0.000357 deg/s,
      cmd heading: 248.512362 deg,
      new cmd heading: 248.511766 deg.

2025-06-27T19:34:48.408Z,1751052888.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337348 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:48.805Z,1751052888.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:48.808Z,1751052888.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 520.185303 m,
      bearing: 249.919673 deg,
      approach rate: -0.752333 m/s,
      LOS rate: -0.000339 deg/s,
      cmd heading: 248.511761 deg,
      new cmd heading: 248.511354 deg.

2025-06-27T19:34:48.809Z,1751052888.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337341 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:49.225Z,1751052889.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:49.232Z,1751052889.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:49.239Z,1751052889.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 519.833801 m,
      bearing: 249.919561 deg,
      approach rate: -0.823470 m/s,
      LOS rate: -0.000261 deg/s,
      cmd heading: 248.511351 deg,
      new cmd heading: 248.511018 deg.

2025-06-27T19:34:49.240Z,1751052889.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337336 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:49.315Z,1751052889.315 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:49.315Z,1751052889.315 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:49.316Z,1751052889.316 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:49.567Z,1751052889.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751201
2025-06-27T19:34:49.603Z,1751052889.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:49.605Z,1751052889.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 519.531677 m,
      bearing: 249.919423 deg,
      approach rate: -0.814568 m/s,
      LOS rate: -0.000373 deg/s,
      cmd heading: 248.511023 deg,
      new cmd heading: 248.510609 deg.

2025-06-27T19:34:49.607Z,1751052889.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337328 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:49.820Z,1751052889.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003448
2025-06-27T19:34:50.047Z,1751052890.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:50.049Z,1751052890.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 519.178467 m,
      bearing: 249.918353 deg,
      approach rate: -0.795985 m/s,
      LOS rate: -0.002414 deg/s,
      cmd heading: 248.510614 deg,
      new cmd heading: 248.507400 deg.

2025-06-27T19:34:50.050Z,1751052890.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337272 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:50.071Z,1751052890.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255139
2025-06-27T19:34:50.323Z,1751052890.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507184
2025-06-27T19:34:50.412Z,1751052890.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:50.414Z,1751052890.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 518.886353 m,
      bearing: 249.917480 deg,
      approach rate: -0.799905 m/s,
      LOS rate: -0.002390 deg/s,
      cmd heading: 248.507390 deg,
      new cmd heading: 248.504771 deg.

2025-06-27T19:34:50.415Z,1751052890.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337226 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:50.575Z,1751052890.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759145
2025-06-27T19:34:50.807Z,1751052890.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:50.810Z,1751052890.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 518.571045 m,
      bearing: 249.916551 deg,
      approach rate: -0.797440 m/s,
      LOS rate: -0.002352 deg/s,
      cmd heading: 248.504767 deg,
      new cmd heading: 248.501977 deg.

2025-06-27T19:34:50.811Z,1751052890.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337178 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:50.827Z,1751052890.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011281
2025-06-27T19:34:51.080Z,1751052891.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263523
2025-06-27T19:34:51.248Z,1751052891.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:51.250Z,1751052891.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:51.253Z,1751052891.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 518.222412 m,
      bearing: 249.915760 deg,
      approach rate: -0.786845 m/s,
      LOS rate: -0.001787 deg/s,
      cmd heading: 248.501980 deg,
      new cmd heading: 248.499605 deg.

2025-06-27T19:34:51.254Z,1751052891.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337136 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:51.333Z,1751052891.333 [DAT](INFO): DAT read: Rx Time:19:34:49.6680

2025-06-27T19:34:51.334Z,1751052891.334 [DAT](INFO): Rx dataTimestamp_ set to:1751052891.332849
2025-06-27T19:34:51.337Z,1751052891.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519749
2025-06-27T19:34:51.583Z,1751052891.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767149
2025-06-27T19:34:51.711Z,1751052891.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:51.714Z,1751052891.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 517.852417 m,
      bearing: 249.914940 deg,
      approach rate: -0.802478 m/s,
      LOS rate: -0.001778 deg/s,
      cmd heading: 248.499603 deg,
      new cmd heading: 248.497144 deg.

2025-06-27T19:34:51.715Z,1751052891.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337093 target range: 528.600525 and range: 533.40 m.
2025-06-27T19:34:51.837Z,1751052891.837 [DAT](INFO): DAT read: Range 10 to 50 : 523.7 m  (Round-trip  698.3 ms) speed  0.5 m/s

2025-06-27T19:34:51.838Z,1751052891.838 [DAT](INFO): DAT read: user:2576>

2025-06-27T19:34:51.838Z,1751052891.838 [DAT](INFO): DAT read: Tx time:19:34:50.7656

2025-06-27T19:34:51.839Z,1751052891.839 [DAT](INFO): Ping request sent.
2025-06-27T19:34:51.839Z,1751052891.839 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:34:51.839Z,1751052891.839 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:34:51.839Z,1751052891.839 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:51.840Z,1751052891.840 [DAT](INFO): publishing transmit ping time
2025-06-27T19:34:52.075Z,1751052892.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 523.700012 m,
      deltaT: 4.032335 s,
      deltaX: -9.700012 m,
      approachRate: -2.405557 m/s,
      rangeRepo size: 4

2025-06-27T19:34:52.076Z,1751052892.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:52.087Z,1751052892.087 [DAT](INFO): DAT read: TxSync time:19:34:50.7648

2025-06-27T19:34:52.095Z,1751052892.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 517.568665 m,
      bearing: 249.913876 deg,
      approach rate: -0.780818 m/s,
      LOS rate: -0.002929 deg/s,
      cmd heading: 248.497144 deg,
      new cmd heading: 248.493951 deg.

2025-06-27T19:34:52.096Z,1751052892.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337038 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:52.476Z,1751052892.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:52.479Z,1751052892.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 517.254883 m,
      bearing: 249.912684 deg,
      approach rate: -0.781039 m/s,
      LOS rate: -0.002971 deg/s,
      cmd heading: 248.493948 deg,
      new cmd heading: 248.490367 deg.

2025-06-27T19:34:52.480Z,1751052892.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336975 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:52.864Z,1751052892.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:52.867Z,1751052892.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 516.952087 m,
      bearing: 249.911599 deg,
      approach rate: -0.780978 m/s,
      LOS rate: -0.002799 deg/s,
      cmd heading: 248.490369 deg,
      new cmd heading: 248.487113 deg.

2025-06-27T19:34:52.868Z,1751052892.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336918 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:53.264Z,1751052893.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:53.266Z,1751052893.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:53.269Z,1751052893.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 516.642334 m,
      bearing: 249.910283 deg,
      approach rate: -0.771118 m/s,
      LOS rate: -0.003279 deg/s,
      cmd heading: 248.487118 deg,
      new cmd heading: 248.483166 deg.

2025-06-27T19:34:53.269Z,1751052893.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336849 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:53.348Z,1751052893.348 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:53.348Z,1751052893.348 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:53.348Z,1751052893.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:34:53.599Z,1751052893.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760404
2025-06-27T19:34:53.674Z,1751052893.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:53.681Z,1751052893.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 516.342102 m,
      bearing: 249.908953 deg,
      approach rate: -0.735248 m/s,
      LOS rate: -0.003259 deg/s,
      cmd heading: 248.483156 deg,
      new cmd heading: 248.479164 deg.

2025-06-27T19:34:53.682Z,1751052893.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336780 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:53.851Z,1751052893.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012423
2025-06-27T19:34:54.093Z,1751052894.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:54.097Z,1751052894.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 516.009521 m,
      bearing: 249.906534 deg,
      approach rate: -0.793250 m/s,
      LOS rate: -0.005773 deg/s,
      cmd heading: 248.479167 deg,
      new cmd heading: 248.471906 deg.

2025-06-27T19:34:54.107Z,1751052894.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268479
2025-06-27T19:34:54.115Z,1751052894.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336653 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:54.359Z,1751052894.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520513
2025-06-27T19:34:54.455Z,1751052894.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:54.458Z,1751052894.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 515.735962 m,
      bearing: 249.904487 deg,
      approach rate: -0.756308 m/s,
      LOS rate: -0.005662 deg/s,
      cmd heading: 248.471900 deg,
      new cmd heading: 248.465757 deg.

2025-06-27T19:34:54.459Z,1751052894.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336545 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:54.611Z,1751052894.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772398
2025-06-27T19:34:54.863Z,1751052894.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024318
2025-06-27T19:34:54.878Z,1751052894.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:54.881Z,1751052894.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 515.415710 m,
      bearing: 249.902088 deg,
      approach rate: -0.757459 m/s,
      LOS rate: -0.005679 deg/s,
      cmd heading: 248.465753 deg,
      new cmd heading: 248.458550 deg.

2025-06-27T19:34:54.882Z,1751052894.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336420 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:55.115Z,1751052895.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276485
2025-06-27T19:34:55.309Z,1751052895.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:55.312Z,1751052895.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:55.314Z,1751052895.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 515.093933 m,
      bearing: 249.899208 deg,
      approach rate: -0.741653 m/s,
      LOS rate: -0.006640 deg/s,
      cmd heading: 248.458540 deg,
      new cmd heading: 248.449897 deg.

2025-06-27T19:34:55.315Z,1751052895.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336269 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:55.368Z,1751052895.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529058
2025-06-27T19:34:55.619Z,1751052895.619 [DAT](INFO): DAT read: Rx Time:19:34:53.8805

2025-06-27T19:34:55.620Z,1751052895.620 [DAT](INFO): Rx dataTimestamp_ set to:1751052895.619575
2025-06-27T19:34:55.620Z,1751052895.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781489
2025-06-27T19:34:55.672Z,1751052895.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:55.687Z,1751052895.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 514.825928 m,
      bearing: 249.896795 deg,
      approach rate: -0.742844 m/s,
      LOS rate: -0.006693 deg/s,
      cmd heading: 248.449907 deg,
      new cmd heading: 248.442663 deg.

2025-06-27T19:34:55.688Z,1751052895.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336143 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:55.872Z,1751052895.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032908
2025-06-27T19:34:56.122Z,1751052896.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:56.129Z,1751052896.129 [DAT](INFO): DAT read: 19:34:53.8805 LVL= 12880, 12017, 11410, 15731, AGC= 73, IDX=  59,-0.07, 2.824, 1.362, 2.724, 2.154, PHS= 0.758,-0.745, 0.567, RAW= 143.3,  -8.2, CAL= 149.7, -17.4, ROT=   0.3,  17.4

2025-06-27T19:34:56.143Z,1751052896.143 [DAT](INFO): got valid direction response:
 19:34:53.8805 LVL= 12880, 12017, 11410, 15731, AGC= 73, IDX=  59,-0.07, 2.824, 1.362, 2.724, 2.154, PHS= 0.758,-0.745, 0.567, RAW= 143.3,  -8.2, CAL= 149.7, -17.4, ROT=   0.3,  17.4

2025-06-27T19:34:56.143Z,1751052896.143 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:34:56.144Z,1751052896.144 [DAT](INFO): Received a bad header
2025-06-27T19:34:56.151Z,1751052896.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 514.493896 m,
      bearing: 249.892605 deg,
      approach rate: -0.738984 m/s,
      LOS rate: -0.009330 deg/s,
      cmd heading: 248.442667 deg,
      new cmd heading: 248.430090 deg.

2025-06-27T19:34:56.152Z,1751052896.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335923 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:56.155Z,1751052896.155 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:34:56.156Z,1751052896.156 [DAT](INFO): direction in FSK: [0.954227,0.004996,-0.299041]
2025-06-27T19:34:56.159Z,1751052896.159 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:56.159Z,1751052896.159 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:56.159Z,1751052896.159 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:56.375Z,1751052896.375 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:56.375Z,1751052896.375 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:56.375Z,1751052896.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:56.496Z,1751052896.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:56.499Z,1751052896.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 514.217102 m,
      bearing: 249.889109 deg,
      approach rate: -0.739738 m/s,
      LOS rate: -0.009348 deg/s,
      cmd heading: 248.430099 deg,
      new cmd heading: 248.419606 deg.

2025-06-27T19:34:56.500Z,1751052896.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335740 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:56.627Z,1751052896.627 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:56.627Z,1751052896.627 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:56.627Z,1751052896.627 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:56.879Z,1751052896.879 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:56.879Z,1751052896.879 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:56.879Z,1751052896.879 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:56.889Z,1751052896.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:56.892Z,1751052896.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 513.926208 m,
      bearing: 249.885421 deg,
      approach rate: -0.739031 m/s,
      LOS rate: -0.009376 deg/s,
      cmd heading: 248.419608 deg,
      new cmd heading: 248.408537 deg.

2025-06-27T19:34:56.893Z,1751052896.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335547 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:57.131Z,1751052897.131 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:57.131Z,1751052897.131 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:57.131Z,1751052897.131 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:57.315Z,1751052897.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:57.317Z,1751052897.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:57.320Z,1751052897.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 513.617432 m,
      bearing: 249.881444 deg,
      approach rate: -0.722310 m/s,
      LOS rate: -0.009310 deg/s,
      cmd heading: 248.408543 deg,
      new cmd heading: 248.396604 deg.

2025-06-27T19:34:57.321Z,1751052897.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335339 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:57.389Z,1751052897.389 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:57.389Z,1751052897.389 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:57.389Z,1751052897.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:57.639Z,1751052897.639 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:57.639Z,1751052897.639 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:57.639Z,1751052897.639 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:57.712Z,1751052897.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:57.719Z,1751052897.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 513.337219 m,
      bearing: 249.877829 deg,
      approach rate: -0.709079 m/s,
      LOS rate: -0.009152 deg/s,
      cmd heading: 248.396604 deg,
      new cmd heading: 248.385754 deg.

2025-06-27T19:34:57.720Z,1751052897.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335149 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:57.891Z,1751052897.891 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:57.891Z,1751052897.891 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:57.891Z,1751052897.891 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:58.119Z,1751052898.119 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711360584,35.0, +10.0,   0.0  0
2025-06-27T19:34:58.135Z,1751052898.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:58.138Z,1751052898.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 513.026001 m,
      bearing: 249.873809 deg,
      approach rate: -0.735362 m/s,
      LOS rate: -0.009505 deg/s,
      cmd heading: 248.385758 deg,
      new cmd heading: 248.373689 deg.

2025-06-27T19:34:58.140Z,1751052898.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334939 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:58.143Z,1751052898.143 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:58.143Z,1751052898.143 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:58.143Z,1751052898.143 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:58.395Z,1751052898.395 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:58.395Z,1751052898.395 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:58.395Z,1751052898.395 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:58.510Z,1751052898.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:58.512Z,1751052898.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 512.757263 m,
      bearing: 249.870340 deg,
      approach rate: -0.718145 m/s,
      LOS rate: -0.009274 deg/s,
      cmd heading: 248.373682 deg,
      new cmd heading: 248.363271 deg.

2025-06-27T19:34:58.513Z,1751052898.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334757 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:58.647Z,1751052898.647 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:58.647Z,1751052898.647 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:58.647Z,1751052898.647 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:58.899Z,1751052898.899 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:58.899Z,1751052898.899 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:58.899Z,1751052898.899 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:58.916Z,1751052898.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:58.919Z,1751052898.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 512.460693 m,
      bearing: 249.866507 deg,
      approach rate: -0.729609 m/s,
      LOS rate: -0.009436 deg/s,
      cmd heading: 248.363273 deg,
      new cmd heading: 248.351766 deg.

2025-06-27T19:34:58.920Z,1751052898.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334556 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:59.151Z,1751052899.151 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:59.151Z,1751052899.151 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:59.151Z,1751052899.151 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:59.355Z,1751052899.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:34:59.357Z,1751052899.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:59.365Z,1751052899.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 512.159363 m,
      bearing: 249.863164 deg,
      approach rate: -0.682777 m/s,
      LOS rate: -0.007578 deg/s,
      cmd heading: 248.351771 deg,
      new cmd heading: 248.341737 deg.

2025-06-27T19:34:59.366Z,1751052899.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334381 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:59.403Z,1751052899.403 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:59.403Z,1751052899.403 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:59.403Z,1751052899.403 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:59.655Z,1751052899.655 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:59.655Z,1751052899.655 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:59.655Z,1751052899.655 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:34:59.726Z,1751052899.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:34:59.729Z,1751052899.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 511.894684 m,
      bearing: 249.860234 deg,
      approach rate: -0.718272 m/s,
      LOS rate: -0.007957 deg/s,
      cmd heading: 248.341744 deg,
      new cmd heading: 248.332948 deg.

2025-06-27T19:34:59.730Z,1751052899.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334228 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:34:59.908Z,1751052899.908 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:34:59.908Z,1751052899.908 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:34:59.909Z,1751052899.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:00.159Z,1751052900.159 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:00.159Z,1751052900.159 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:00.159Z,1751052900.159 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:00.212Z,1751052900.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:00.215Z,1751052900.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 511.534332 m,
      bearing: 249.857293 deg,
      approach rate: -0.741129 m/s,
      LOS rate: -0.006052 deg/s,
      cmd heading: 248.332947 deg,
      new cmd heading: 248.324119 deg.

2025-06-27T19:35:00.216Z,1751052900.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334074 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:00.411Z,1751052900.411 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:00.412Z,1751052900.412 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:00.412Z,1751052900.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:00.559Z,1751052900.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:00.562Z,1751052900.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 511.290894 m,
      bearing: 249.855327 deg,
      approach rate: -0.701603 m/s,
      LOS rate: -0.005669 deg/s,
      cmd heading: 248.324122 deg,
      new cmd heading: 248.318221 deg.

2025-06-27T19:35:00.567Z,1751052900.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333971 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:00.663Z,1751052900.663 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:00.663Z,1751052900.663 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:00.663Z,1751052900.663 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:00.915Z,1751052900.915 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:00.916Z,1751052900.916 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:00.916Z,1751052900.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:01.038Z,1751052901.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:01.049Z,1751052901.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 510.942169 m,
      bearing: 249.852512 deg,
      approach rate: -0.728779 m/s,
      LOS rate: -0.005887 deg/s,
      cmd heading: 248.318221 deg,
      new cmd heading: 248.309770 deg.

2025-06-27T19:35:01.050Z,1751052901.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333823 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:01.168Z,1751052901.168 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:01.168Z,1751052901.168 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:01.168Z,1751052901.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:01.419Z,1751052901.419 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:01.419Z,1751052901.419 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:01.419Z,1751052901.419 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:01.548Z,1751052901.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:01.550Z,1751052901.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:01.553Z,1751052901.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 510.553040 m,
      bearing: 249.850106 deg,
      approach rate: -0.759359 m/s,
      LOS rate: -0.004700 deg/s,
      cmd heading: 248.309779 deg,
      new cmd heading: 248.302554 deg.

2025-06-27T19:35:01.554Z,1751052901.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333697 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:01.671Z,1751052901.671 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:01.671Z,1751052901.671 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:01.671Z,1751052901.671 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:01.924Z,1751052901.924 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:01.924Z,1751052901.924 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:01.925Z,1751052901.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:02.008Z,1751052902.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:02.017Z,1751052902.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 510.224091 m,
      bearing: 249.848096 deg,
      approach rate: -0.717720 m/s,
      LOS rate: -0.004387 deg/s,
      cmd heading: 248.302566 deg,
      new cmd heading: 248.296535 deg.

2025-06-27T19:35:02.023Z,1751052902.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333592 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:02.175Z,1751052902.175 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:02.175Z,1751052902.175 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:02.176Z,1751052902.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:02.427Z,1751052902.427 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:02.427Z,1751052902.427 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:02.427Z,1751052902.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:02.436Z,1751052902.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:02.442Z,1751052902.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 509.899597 m,
      bearing: 249.846839 deg,
      approach rate: -0.759573 m/s,
      LOS rate: -0.002946 deg/s,
      cmd heading: 248.296528 deg,
      new cmd heading: 248.292753 deg.

2025-06-27T19:35:02.443Z,1751052902.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333526 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:02.680Z,1751052902.680 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:02.680Z,1751052902.680 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:02.680Z,1751052902.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:02.811Z,1751052902.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:02.814Z,1751052902.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 509.592682 m,
      bearing: 249.845685 deg,
      approach rate: -0.819516 m/s,
      LOS rate: -0.003083 deg/s,
      cmd heading: 248.292758 deg,
      new cmd heading: 248.289294 deg.

2025-06-27T19:35:02.815Z,1751052902.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333466 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:02.932Z,1751052902.932 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:35:02.932Z,1751052902.932 [DAT](INFO): response not received
2025-06-27T19:35:02.932Z,1751052902.932 [DAT](INFO): DAT read: user:2578>

2025-06-27T19:35:02.933Z,1751052902.933 [DAT](INFO): DAT read: Tx time:19:35:01.7157

2025-06-27T19:35:02.933Z,1751052902.933 [DAT](INFO): Ping request sent.
2025-06-27T19:35:02.933Z,1751052902.933 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:02.934Z,1751052902.934 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:02.934Z,1751052902.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-06-27T19:35:03.184Z,1751052903.184 [DAT](INFO): DAT read: TxSync time:19:35:01.7149

2025-06-27T19:35:03.184Z,1751052903.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250827
2025-06-27T19:35:03.250Z,1751052903.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:03.257Z,1751052903.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 509.261353 m,
      bearing: 249.845337 deg,
      approach rate: -0.753158 m/s,
      LOS rate: -0.000790 deg/s,
      cmd heading: 248.289288 deg,
      new cmd heading: 248.288245 deg.

2025-06-27T19:35:03.263Z,1751052903.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333447 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:03.435Z,1751052903.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501786
2025-06-27T19:35:03.627Z,1751052903.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:03.629Z,1751052903.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:03.637Z,1751052903.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 508.952515 m,
      bearing: 249.845070 deg,
      approach rate: -0.814609 m/s,
      LOS rate: -0.000706 deg/s,
      cmd heading: 248.288250 deg,
      new cmd heading: 248.287447 deg.

2025-06-27T19:35:03.638Z,1751052903.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333434 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:03.689Z,1751052903.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755077
2025-06-27T19:35:03.939Z,1751052903.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005806
2025-06-27T19:35:04.037Z,1751052904.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:04.055Z,1751052904.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 508.639282 m,
      bearing: 249.844866 deg,
      approach rate: -0.768227 m/s,
      LOS rate: -0.000500 deg/s,
      cmd heading: 248.287458 deg,
      new cmd heading: 248.286846 deg.

2025-06-27T19:35:04.056Z,1751052904.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333423 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:04.194Z,1751052904.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259749
2025-06-27T19:35:04.438Z,1751052904.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:04.441Z,1751052904.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 508.302185 m,
      bearing: 249.845432 deg,
      approach rate: -0.840497 m/s,
      LOS rate: 0.001411 deg/s,
      cmd heading: 248.286857 deg,
      new cmd heading: 248.288554 deg.

2025-06-27T19:35:04.442Z,1751052904.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333453 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:04.444Z,1751052904.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017
2025-06-27T19:35:04.695Z,1751052904.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761811
2025-06-27T19:35:04.909Z,1751052904.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:04.911Z,1751052904.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 507.938446 m,
      bearing: 249.846064 deg,
      approach rate: -0.772855 m/s,
      LOS rate: 0.001344 deg/s,
      cmd heading: 248.288551 deg,
      new cmd heading: 248.290448 deg.

2025-06-27T19:35:04.912Z,1751052904.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333486 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:04.948Z,1751052904.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014642
2025-06-27T19:35:05.103Z,1751052905.103 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:35:05.201Z,1751052905.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267550
2025-06-27T19:35:05.304Z,1751052905.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:05.318Z,1751052905.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 507.608307 m,
      bearing: 249.846523 deg,
      approach rate: -0.835901 m/s,
      LOS rate: 0.001165 deg/s,
      cmd heading: 248.290436 deg,
      new cmd heading: 248.291815 deg.

2025-06-27T19:35:05.319Z,1751052905.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333510 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:05.451Z,1751052905.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517757
2025-06-27T19:35:05.656Z,1751052905.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:05.659Z,1751052905.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:05.661Z,1751052905.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 507.320526 m,
      bearing: 249.846946 deg,
      approach rate: -0.810753 m/s,
      LOS rate: 0.001192 deg/s,
      cmd heading: 248.291829 deg,
      new cmd heading: 248.293099 deg.

2025-06-27T19:35:05.663Z,1751052905.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333532 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:05.707Z,1751052905.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773303
2025-06-27T19:35:05.960Z,1751052905.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026592
2025-06-27T19:35:06.055Z,1751052906.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:06.058Z,1751052906.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 507.000763 m,
      bearing: 249.847412 deg,
      approach rate: -0.806446 m/s,
      LOS rate: 0.001176 deg/s,
      cmd heading: 248.293086 deg,
      new cmd heading: 248.294484 deg.

2025-06-27T19:35:06.062Z,1751052906.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333556 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:06.107Z,1751052906.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:35:06.214Z,1751052906.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280043
2025-06-27T19:35:06.464Z,1751052906.464 [DAT](INFO): DAT read: Rx Time:19:35:04.8027

2025-06-27T19:35:06.464Z,1751052906.464 [DAT](INFO): Rx dataTimestamp_ set to:1751052906.463905
2025-06-27T19:35:06.465Z,1751052906.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531247
2025-06-27T19:35:06.480Z,1751052906.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:06.489Z,1751052906.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 506.684265 m,
      bearing: 249.848823 deg,
      approach rate: -0.744738 m/s,
      LOS rate: 0.003322 deg/s,
      cmd heading: 248.294479 deg,
      new cmd heading: 248.298714 deg.

2025-06-27T19:35:06.503Z,1751052906.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333630 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:06.715Z,1751052906.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781872
2025-06-27T19:35:06.838Z,1751052906.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 528.60 m.
2025-06-27T19:35:06.841Z,1751052906.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 528.600525 m,
      nav range: 506.371490 m,
      bearing: 249.850206 deg,
      approach rate: -0.873597 m/s,
      LOS rate: 0.003866 deg/s,
      cmd heading: 248.298714 deg,
      new cmd heading: 248.302867 deg.

2025-06-27T19:35:06.842Z,1751052906.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333703 target range: 528.600525 and range: 523.70 m.
2025-06-27T19:35:06.973Z,1751052906.973 [DAT](INFO): DAT read: 19:35:04.8027 LVL= 30352, 25873, 27762, 32755, AGC= 73, IDX= 262, 0.15,-1.736, 2.971,-1.949,-2.468, PHS= 0.820,-0.797, 0.516, RAW= 139.8,  -7.3, CAL= 145.9, -17.1, ROT=   4.1,  17.1

2025-06-27T19:35:06.975Z,1751052906.975 [DAT](INFO): got valid direction response:
 19:35:04.8027 LVL= 30352, 25873, 27762, 32755, AGC= 73, IDX= 262, 0.15,-1.736, 2.971,-1.949,-2.468, PHS= 0.820,-0.797, 0.516, RAW= 139.8,  -7.3, CAL= 145.9, -17.1, ROT=   4.1,  17.1

2025-06-27T19:35:06.976Z,1751052906.976 [DAT](INFO): DAT read: Bearing   4.1,  17.1 (Local)

2025-06-27T19:35:06.977Z,1751052906.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  17.1 (Local)

2025-06-27T19:35:06.979Z,1751052906.979 [DAT](INFO): DAT read: Range 10 to 50 : 512.1 m  (Round-trip  682.9 ms) speed  0.8 m/s

2025-06-27T19:35:06.979Z,1751052906.979 [DAT](INFO): DAT read: user:2579>

2025-06-27T19:35:06.980Z,1751052906.980 [DAT](INFO): DAT read: Tx time:19:35:05.9157

2025-06-27T19:35:06.980Z,1751052906.980 [DAT](INFO): Ping request sent.
2025-06-27T19:35:06.981Z,1751052906.981 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:06.981Z,1751052906.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:06.982Z,1751052906.982 [DAT](INFO): direction in FSK: [0.953347,0.068337,-0.294040]
2025-06-27T19:35:06.982Z,1751052906.982 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:06.983Z,1751052906.983 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:06.985Z,1751052906.985 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:06.986Z,1751052906.986 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:07.222Z,1751052907.222 [DAT](INFO): DAT read: TxSync time:19:35:05.9149

2025-06-27T19:35:07.332Z,1751052907.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 512.099976 m,
      deltaT: 15.131678 s,
      deltaX: -11.600037 m,
      approachRate: -0.766606 m/s,
      rangeRepo size: 4

2025-06-27T19:35:07.339Z,1751052907.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 507.487335 m,
      bearing: 253.507333 deg,
      lat: 36.906559 deg,
      lon: -122.116264 deg,
      deltaT: 19.164013 s,
      deltaX: -21.113190 m,
      approachRate: -1.101710 m/s,
      posRepo size: 4

2025-06-27T19:35:07.340Z,1751052907.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:07.347Z,1751052907.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 496.511597 m,
      bearing: 249.448796 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003866 deg/s,
      cmd heading: 248.302867 deg,
      new cmd heading: 248.308590 deg.

2025-06-27T19:35:07.348Z,1751052907.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333803 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:07.657Z,1751052907.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:07.663Z,1751052907.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:07.666Z,1751052907.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 496.247559 m,
      bearing: 249.449036 deg,
      approach rate: -0.796442 m/s,
      LOS rate: 0.000726 deg/s,
      cmd heading: 248.308604 deg,
      new cmd heading: 248.309326 deg.

2025-06-27T19:35:07.671Z,1751052907.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333815 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:07.723Z,1751052907.723 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:07.723Z,1751052907.723 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:07.724Z,1751052907.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:07.976Z,1751052907.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995009
2025-06-27T19:35:08.063Z,1751052908.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:08.065Z,1751052908.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 495.935089 m,
      bearing: 249.449309 deg,
      approach rate: -0.782353 m/s,
      LOS rate: 0.000683 deg/s,
      cmd heading: 248.309314 deg,
      new cmd heading: 248.310132 deg.

2025-06-27T19:35:08.066Z,1751052908.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333829 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:08.230Z,1751052908.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248917
2025-06-27T19:35:08.470Z,1751052908.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:08.479Z,1751052908.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498673
2025-06-27T19:35:08.492Z,1751052908.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 495.609985 m,
      bearing: 249.448439 deg,
      approach rate: -0.798455 m/s,
      LOS rate: -0.002139 deg/s,
      cmd heading: 248.310134 deg,
      new cmd heading: 248.307521 deg.

2025-06-27T19:35:08.493Z,1751052908.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333784 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:08.731Z,1751052908.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750862
2025-06-27T19:35:08.872Z,1751052908.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:08.879Z,1751052908.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 495.311035 m,
      bearing: 249.447587 deg,
      approach rate: -0.743199 m/s,
      LOS rate: -0.002118 deg/s,
      cmd heading: 248.307511 deg,
      new cmd heading: 248.304955 deg.

2025-06-27T19:35:08.880Z,1751052908.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333739 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:08.984Z,1751052908.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003214
2025-06-27T19:35:09.237Z,1751052909.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256364
2025-06-27T19:35:09.334Z,1751052909.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:09.358Z,1751052909.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 494.956390 m,
      bearing: 249.445433 deg,
      approach rate: -0.768375 m/s,
      LOS rate: -0.004671 deg/s,
      cmd heading: 248.304943 deg,
      new cmd heading: 248.298475 deg.

2025-06-27T19:35:09.363Z,1751052909.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333626 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:09.487Z,1751052909.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506838
2025-06-27T19:35:09.676Z,1751052909.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:09.679Z,1751052909.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:09.682Z,1751052909.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 494.691589 m,
      bearing: 249.443822 deg,
      approach rate: -0.767226 m/s,
      LOS rate: -0.004669 deg/s,
      cmd heading: 248.298468 deg,
      new cmd heading: 248.293634 deg.

2025-06-27T19:35:09.683Z,1751052909.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333541 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:09.740Z,1751052909.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759701
2025-06-27T19:35:09.992Z,1751052909.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011011
2025-06-27T19:35:10.073Z,1751052910.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:10.076Z,1751052910.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 494.394501 m,
      bearing: 249.441920 deg,
      approach rate: -0.752840 m/s,
      LOS rate: -0.004822 deg/s,
      cmd heading: 248.293632 deg,
      new cmd heading: 248.287924 deg.

2025-06-27T19:35:10.077Z,1751052910.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333442 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:10.246Z,1751052910.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264608
2025-06-27T19:35:10.495Z,1751052910.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514896
2025-06-27T19:35:10.512Z,1751052910.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:10.515Z,1751052910.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 494.073120 m,
      bearing: 249.439231 deg,
      approach rate: -0.731929 m/s,
      LOS rate: -0.006128 deg/s,
      cmd heading: 248.287922 deg,
      new cmd heading: 248.279850 deg.

2025-06-27T19:35:10.516Z,1751052910.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333301 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:10.747Z,1751052910.747 [DAT](INFO): DAT read: Rx Time:19:35:08.9981

2025-06-27T19:35:10.748Z,1751052910.748 [DAT](INFO): Rx dataTimestamp_ set to:1751052910.747578
2025-06-27T19:35:10.748Z,1751052910.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767840
2025-06-27T19:35:10.884Z,1751052910.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:10.887Z,1751052910.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 493.799713 m,
      bearing: 249.436944 deg,
      approach rate: -0.734710 m/s,
      LOS rate: -0.006150 deg/s,
      cmd heading: 248.279863 deg,
      new cmd heading: 248.272996 deg.

2025-06-27T19:35:10.888Z,1751052910.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333181 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:11.001Z,1751052911.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020272
2025-06-27T19:35:11.271Z,1751052911.271 [DAT](INFO): DAT read: 19:35:08.9981 LVL= 20288, 22065, 18546, 21747, AGC= 74, IDX= 488, 0.01, 0.157,-1.507, 0.037,-0.545, PHS= 0.789,-0.916, 0.579, RAW= 143.5,  -5.7, CAL= 149.2, -14.8, ROT=   0.8,  14.8

2025-06-27T19:35:11.274Z,1751052911.274 [DAT](INFO): got valid direction response:
 19:35:08.9981 LVL= 20288, 22065, 18546, 21747, AGC= 74, IDX= 488, 0.01, 0.157,-1.507, 0.037,-0.545, PHS= 0.789,-0.916, 0.579, RAW= 143.5,  -5.7, CAL= 149.2, -14.8, ROT=   0.8,  14.8

2025-06-27T19:35:11.276Z,1751052911.276 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:35:11.277Z,1751052911.277 [DAT](INFO): Received a bad header
2025-06-27T19:35:11.291Z,1751052911.291 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:35:11.292Z,1751052911.292 [DAT](INFO): direction in FSK: [0.966729,0.013499,-0.255446]
2025-06-27T19:35:11.295Z,1751052911.295 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:11.295Z,1751052911.295 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:11.295Z,1751052911.295 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:11.420Z,1751052911.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:11.423Z,1751052911.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 493.404205 m,
      bearing: 249.433118 deg,
      approach rate: -0.738619 m/s,
      LOS rate: -0.007150 deg/s,
      cmd heading: 248.273005 deg,
      new cmd heading: 248.261520 deg.

2025-06-27T19:35:11.424Z,1751052911.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332981 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:11.504Z,1751052911.504 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:11.504Z,1751052911.504 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:11.504Z,1751052911.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:11.714Z,1751052911.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:11.716Z,1751052911.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:11.719Z,1751052911.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 493.184845 m,
      bearing: 249.430996 deg,
      approach rate: -0.739606 m/s,
      LOS rate: -0.007160 deg/s,
      cmd heading: 248.261530 deg,
      new cmd heading: 248.255160 deg.

2025-06-27T19:35:11.720Z,1751052911.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332870 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:11.755Z,1751052911.755 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:11.755Z,1751052911.755 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:11.755Z,1751052911.755 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:12.008Z,1751052912.008 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:12.008Z,1751052912.008 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:12.008Z,1751052912.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:12.119Z,1751052912.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:12.121Z,1751052912.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 492.887543 m,
      bearing: 249.428129 deg,
      approach rate: -0.739131 m/s,
      LOS rate: -0.007132 deg/s,
      cmd heading: 248.255165 deg,
      new cmd heading: 248.246558 deg.

2025-06-27T19:35:12.123Z,1751052912.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332720 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:12.262Z,1751052912.262 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:12.262Z,1751052912.262 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:12.263Z,1751052912.263 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:12.511Z,1751052912.511 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:12.511Z,1751052912.511 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:12.511Z,1751052912.511 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:12.574Z,1751052912.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:12.577Z,1751052912.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 492.589020 m,
      bearing: 249.424621 deg,
      approach rate: -0.655808 m/s,
      LOS rate: -0.007711 deg/s,
      cmd heading: 248.246559 deg,
      new cmd heading: 248.236028 deg.

2025-06-27T19:35:12.577Z,1751052912.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332536 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:12.763Z,1751052912.763 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:12.763Z,1751052912.763 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:12.763Z,1751052912.763 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:12.923Z,1751052912.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:12.926Z,1751052912.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 492.310425 m,
      bearing: 249.421343 deg,
      approach rate: -0.796714 m/s,
      LOS rate: -0.009379 deg/s,
      cmd heading: 248.236040 deg,
      new cmd heading: 248.226201 deg.

2025-06-27T19:35:12.927Z,1751052912.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332365 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:13.016Z,1751052913.016 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:13.016Z,1751052913.016 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:13.016Z,1751052913.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:13.269Z,1751052913.269 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:13.269Z,1751052913.269 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:13.270Z,1751052913.270 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:13.391Z,1751052913.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:13.394Z,1751052913.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 491.976501 m,
      bearing: 249.417353 deg,
      approach rate: -0.713606 m/s,
      LOS rate: -0.008533 deg/s,
      cmd heading: 248.226205 deg,
      new cmd heading: 248.214226 deg.

2025-06-27T19:35:13.395Z,1751052913.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332156 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:13.519Z,1751052913.519 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:13.519Z,1751052913.519 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:13.519Z,1751052913.519 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:13.725Z,1751052913.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:13.727Z,1751052913.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:13.730Z,1751052913.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 491.728455 m,
      bearing: 249.414378 deg,
      approach rate: -0.738679 m/s,
      LOS rate: -0.008863 deg/s,
      cmd heading: 248.214238 deg,
      new cmd heading: 248.205309 deg.

2025-06-27T19:35:13.731Z,1751052913.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332000 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:13.773Z,1751052913.773 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:13.774Z,1751052913.774 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:13.774Z,1751052913.774 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:14.024Z,1751052914.024 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:14.024Z,1751052914.024 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:14.024Z,1751052914.024 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:14.153Z,1751052914.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:14.156Z,1751052914.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 491.419586 m,
      bearing: 249.410670 deg,
      approach rate: -0.725747 m/s,
      LOS rate: -0.008720 deg/s,
      cmd heading: 248.205304 deg,
      new cmd heading: 248.194171 deg.

2025-06-27T19:35:14.157Z,1751052914.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331806 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:14.275Z,1751052914.275 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:14.275Z,1751052914.275 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:14.275Z,1751052914.275 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:14.527Z,1751052914.527 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:14.527Z,1751052914.527 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:14.527Z,1751052914.527 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:14.571Z,1751052914.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:14.574Z,1751052914.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 491.113037 m,
      bearing: 249.407367 deg,
      approach rate: -0.734198 m/s,
      LOS rate: -0.007914 deg/s,
      cmd heading: 248.194185 deg,
      new cmd heading: 248.184272 deg.

2025-06-27T19:35:14.587Z,1751052914.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331633 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:14.782Z,1751052914.782 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:14.783Z,1751052914.783 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:14.783Z,1751052914.783 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:14.939Z,1751052914.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:14.942Z,1751052914.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 490.841980 m,
      bearing: 249.404448 deg,
      approach rate: -0.734574 m/s,
      LOS rate: -0.007916 deg/s,
      cmd heading: 248.184267 deg,
      new cmd heading: 248.175504 deg.

2025-06-27T19:35:14.965Z,1751052914.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331480 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:15.031Z,1751052915.031 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:15.031Z,1751052915.031 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:15.031Z,1751052915.031 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:15.285Z,1751052915.285 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:15.285Z,1751052915.285 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:15.286Z,1751052915.286 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:15.408Z,1751052915.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:15.411Z,1751052915.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 490.498322 m,
      bearing: 249.401435 deg,
      approach rate: -0.732858 m/s,
      LOS rate: -0.006429 deg/s,
      cmd heading: 248.175497 deg,
      new cmd heading: 248.166453 deg.

2025-06-27T19:35:15.431Z,1751052915.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331322 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:15.536Z,1751052915.536 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:15.536Z,1751052915.536 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:15.536Z,1751052915.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:15.748Z,1751052915.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:15.750Z,1751052915.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:15.753Z,1751052915.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 490.244659 m,
      bearing: 249.399219 deg,
      approach rate: -0.742234 m/s,
      LOS rate: -0.006489 deg/s,
      cmd heading: 248.166454 deg,
      new cmd heading: 248.159801 deg.

2025-06-27T19:35:15.754Z,1751052915.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331205 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:15.788Z,1751052915.788 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:15.788Z,1751052915.788 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:15.788Z,1751052915.788 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:16.039Z,1751052916.039 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:16.039Z,1751052916.039 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:16.039Z,1751052916.039 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:16.171Z,1751052916.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:16.173Z,1751052916.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 489.937378 m,
      bearing: 249.396544 deg,
      approach rate: -0.737960 m/s,
      LOS rate: -0.006427 deg/s,
      cmd heading: 248.159788 deg,
      new cmd heading: 248.151759 deg.

2025-06-27T19:35:16.178Z,1751052916.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331065 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:16.292Z,1751052916.292 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:16.292Z,1751052916.292 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:16.293Z,1751052916.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:16.543Z,1751052916.543 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:16.543Z,1751052916.543 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:16.543Z,1751052916.543 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:16.609Z,1751052916.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:16.631Z,1751052916.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 489.615692 m,
      bearing: 249.394482 deg,
      approach rate: -0.727557 m/s,
      LOS rate: -0.004667 deg/s,
      cmd heading: 248.151755 deg,
      new cmd heading: 248.145565 deg.

2025-06-27T19:35:16.632Z,1751052916.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330957 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:16.795Z,1751052916.795 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:16.795Z,1751052916.795 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:16.795Z,1751052916.795 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:35:16.963Z,1751052916.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:16.965Z,1751052916.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 489.336365 m,
      bearing: 249.392711 deg,
      approach rate: -0.789368 m/s,
      LOS rate: -0.005009 deg/s,
      cmd heading: 248.145554 deg,
      new cmd heading: 248.140236 deg.

2025-06-27T19:35:16.967Z,1751052916.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330864 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:17.047Z,1751052917.047 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:17.047Z,1751052917.047 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:17.048Z,1751052917.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:17.299Z,1751052917.299 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:17.299Z,1751052917.299 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:17.300Z,1751052917.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:17.463Z,1751052917.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:17.466Z,1751052917.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 488.954346 m,
      bearing: 249.390554 deg,
      approach rate: -0.762565 m/s,
      LOS rate: -0.004308 deg/s,
      cmd heading: 248.140226 deg,
      new cmd heading: 248.133751 deg.

2025-06-27T19:35:17.467Z,1751052917.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330751 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:17.552Z,1751052917.552 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:17.552Z,1751052917.552 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:17.553Z,1751052917.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:17.803Z,1751052917.803 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:17.803Z,1751052917.803 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:17.804Z,1751052917.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:17.905Z,1751052917.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:17.908Z,1751052917.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:17.911Z,1751052917.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 488.615601 m,
      bearing: 249.388720 deg,
      approach rate: -0.762313 m/s,
      LOS rate: -0.004130 deg/s,
      cmd heading: 248.133751 deg,
      new cmd heading: 248.128246 deg.

2025-06-27T19:35:17.912Z,1751052917.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330655 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:18.056Z,1751052918.056 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:35:18.056Z,1751052918.056 [DAT](INFO): response not received
2025-06-27T19:35:18.056Z,1751052918.056 [DAT](INFO): DAT read: user:2581>

2025-06-27T19:35:18.057Z,1751052918.057 [DAT](INFO): DAT read: Tx time:19:35:16.8658

2025-06-27T19:35:18.057Z,1751052918.057 [DAT](INFO): Ping request sent.
2025-06-27T19:35:18.057Z,1751052918.057 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:18.058Z,1751052918.058 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:18.059Z,1751052918.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-06-27T19:35:18.307Z,1751052918.307 [DAT](INFO): DAT read: TxSync time:19:35:16.8650

2025-06-27T19:35:18.308Z,1751052918.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250748
2025-06-27T19:35:18.426Z,1751052918.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:18.433Z,1751052918.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 488.230988 m,
      bearing: 249.386690 deg,
      approach rate: -0.742324 m/s,
      LOS rate: -0.003922 deg/s,
      cmd heading: 248.128260 deg,
      new cmd heading: 248.122163 deg.

2025-06-27T19:35:18.434Z,1751052918.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330549 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:18.560Z,1751052918.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502138
2025-06-27T19:35:18.765Z,1751052918.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:18.788Z,1751052918.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 487.956604 m,
      bearing: 249.386129 deg,
      approach rate: -0.808304 m/s,
      LOS rate: -0.001652 deg/s,
      cmd heading: 248.122167 deg,
      new cmd heading: 248.120485 deg.

2025-06-27T19:35:18.789Z,1751052918.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330519 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:18.812Z,1751052918.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754092
2025-06-27T19:35:19.063Z,1751052919.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005884
2025-06-27T19:35:19.148Z,1751052919.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:19.151Z,1751052919.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 487.659943 m,
      bearing: 249.385544 deg,
      approach rate: -0.775774 m/s,
      LOS rate: -0.001532 deg/s,
      cmd heading: 248.120473 deg,
      new cmd heading: 248.118716 deg.

2025-06-27T19:35:19.152Z,1751052919.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330489 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:19.315Z,1751052919.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257906
2025-06-27T19:35:19.567Z,1751052919.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510087
2025-06-27T19:35:19.573Z,1751052919.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:19.580Z,1751052919.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 487.326782 m,
      bearing: 249.385045 deg,
      approach rate: -0.783970 m/s,
      LOS rate: -0.001175 deg/s,
      cmd heading: 248.118725 deg,
      new cmd heading: 248.117227 deg.

2025-06-27T19:35:19.581Z,1751052919.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330462 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:19.820Z,1751052919.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762182
2025-06-27T19:35:19.948Z,1751052919.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:19.951Z,1751052919.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:19.953Z,1751052919.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 487.018555 m,
      bearing: 249.384583 deg,
      approach rate: -0.815792 m/s,
      LOS rate: -0.001224 deg/s,
      cmd heading: 248.117222 deg,
      new cmd heading: 248.115835 deg.

2025-06-27T19:35:19.955Z,1751052919.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330438 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:20.072Z,1751052920.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900
2025-06-27T19:35:20.323Z,1751052920.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266073
2025-06-27T19:35:20.337Z,1751052920.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:20.340Z,1751052920.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 486.709076 m,
      bearing: 249.384132 deg,
      approach rate: -0.800009 m/s,
      LOS rate: -0.001165 deg/s,
      cmd heading: 248.115829 deg,
      new cmd heading: 248.114476 deg.

2025-06-27T19:35:20.341Z,1751052920.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330414 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:20.575Z,1751052920.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517848
2025-06-27T19:35:20.768Z,1751052920.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:20.771Z,1751052920.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 486.363770 m,
      bearing: 249.383491 deg,
      approach rate: -0.802445 m/s,
      LOS rate: -0.001491 deg/s,
      cmd heading: 248.114463 deg,
      new cmd heading: 248.112537 deg.

2025-06-27T19:35:20.772Z,1751052920.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330381 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:20.828Z,1751052920.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777
2025-06-27T19:35:21.080Z,1751052921.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022386
2025-06-27T19:35:21.166Z,1751052921.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:21.170Z,1751052921.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 486.043976 m,
      bearing: 249.382896 deg,
      approach rate: -0.802864 m/s,
      LOS rate: -0.001494 deg/s,
      cmd heading: 248.112550 deg,
      new cmd heading: 248.110765 deg.

2025-06-27T19:35:21.171Z,1751052921.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330350 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:21.331Z,1751052921.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273899
2025-06-27T19:35:21.572Z,1751052921.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:21.575Z,1751052921.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 485.721497 m,
      bearing: 249.382346 deg,
      approach rate: -0.794863 m/s,
      LOS rate: -0.001356 deg/s,
      cmd heading: 248.110774 deg,
      new cmd heading: 248.109124 deg.

2025-06-27T19:35:21.576Z,1751052921.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330321 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:21.584Z,1751052921.584 [DAT](INFO): DAT read: Rx Time:19:35:19.9460

2025-06-27T19:35:21.584Z,1751052921.584 [DAT](INFO): Rx dataTimestamp_ set to:1751052921.583702
2025-06-27T19:35:21.585Z,1751052921.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527135
2025-06-27T19:35:21.835Z,1751052921.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777924
2025-06-27T19:35:21.952Z,1751052921.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:21.971Z,1751052921.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 507.49 m.
2025-06-27T19:35:21.973Z,1751052921.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 507.487335 m,
      nav range: 485.417389 m,
      bearing: 249.381851 deg,
      approach rate: -0.794718 m/s,
      LOS rate: -0.001295 deg/s,
      cmd heading: 248.109135 deg,
      new cmd heading: 248.107649 deg.

2025-06-27T19:35:21.978Z,1751052921.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330296 target range: 507.487335 and range: 512.10 m.
2025-06-27T19:35:22.097Z,1751052922.097 [DAT](INFO): DAT read: 19:35:19.9460 LVL= 23600, 28961, 26866, 32755, AGC= 74, IDX= 438, 0.15,-0.546,-2.099,-0.610,-1.179, PHS= 0.721,-0.873, 0.566, RAW= 145.0,  -5.5, CAL= 150.4, -14.4, ROT= 359.6,  14.4

2025-06-27T19:35:22.098Z,1751052922.098 [DAT](INFO): got valid direction response:
 19:35:19.9460 LVL= 23600, 28961, 26866, 32755, AGC= 74, IDX= 438, 0.15,-0.546,-2.099,-0.610,-1.179, PHS= 0.721,-0.873, 0.566, RAW= 145.0,  -5.5, CAL= 150.4, -14.4, ROT= 359.6,  14.4

2025-06-27T19:35:22.099Z,1751052922.099 [DAT](INFO): DAT read: Bearing 359.6,  14.4 (Local)

2025-06-27T19:35:22.100Z,1751052922.100 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  14.4 (Local)

2025-06-27T19:35:22.101Z,1751052922.101 [DAT](INFO): DAT read: Range 10 to 50 : 507.0 m  (Round-trip  676.0 ms) speed  0.5 m/s

2025-06-27T19:35:22.102Z,1751052922.102 [DAT](INFO): DAT read: user:2582>

2025-06-27T19:35:22.103Z,1751052922.103 [DAT](INFO): DAT read: Tx time:19:35:21.0659

2025-06-27T19:35:22.103Z,1751052922.103 [DAT](INFO): Ping request sent.
2025-06-27T19:35:22.103Z,1751052922.103 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:22.103Z,1751052922.103 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:22.104Z,1751052922.104 [DAT](INFO): direction in FSK: [0.968560,-0.006762,-0.248690]
2025-06-27T19:35:22.105Z,1751052922.105 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:22.105Z,1751052922.105 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:22.117Z,1751052922.117 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:22.117Z,1751052922.117 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:22.340Z,1751052922.340 [DAT](INFO): DAT read: TxSync time:19:35:21.0651

2025-06-27T19:35:22.397Z,1751052922.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 507.000000 m,
      deltaT: 15.120035 s,
      deltaX: -5.099976 m,
      approachRate: -0.337299 m/s,
      rangeRepo size: 4

2025-06-27T19:35:22.411Z,1751052922.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 502.429169 m,
      bearing: 248.189225 deg,
      lat: 36.906559 deg,
      lon: -122.116264 deg,
      deltaT: 15.120035 s,
      deltaX: -5.058167 m,
      approachRate: -0.334534 m/s,
      posRepo size: 4

2025-06-27T19:35:22.413Z,1751052922.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:22.435Z,1751052922.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 485.082794 m,
      bearing: 249.381329 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001295 deg/s,
      cmd heading: 248.107660 deg,
      new cmd heading: 248.105943 deg.

2025-06-27T19:35:22.438Z,1751052922.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330266 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:22.785Z,1751052922.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:22.788Z,1751052922.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 484.757446 m,
      bearing: 249.380967 deg,
      approach rate: -0.837668 m/s,
      LOS rate: -0.000933 deg/s,
      cmd heading: 248.105939 deg,
      new cmd heading: 248.104852 deg.

2025-06-27T19:35:22.789Z,1751052922.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330246 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:23.164Z,1751052923.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:23.167Z,1751052923.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 484.456238 m,
      bearing: 249.380620 deg,
      approach rate: -0.794167 m/s,
      LOS rate: -0.000914 deg/s,
      cmd heading: 248.104846 deg,
      new cmd heading: 248.103806 deg.

2025-06-27T19:35:23.168Z,1751052923.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330228 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:23.671Z,1751052923.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:23.674Z,1751052923.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 484.061249 m,
      bearing: 249.379982 deg,
      approach rate: -0.780382 m/s,
      LOS rate: -0.001262 deg/s,
      cmd heading: 248.103808 deg,
      new cmd heading: 248.101891 deg.

2025-06-27T19:35:23.675Z,1751052923.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330195 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:23.972Z,1751052923.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:23.974Z,1751052923.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:23.977Z,1751052923.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 483.824738 m,
      bearing: 249.379598 deg,
      approach rate: -0.779359 m/s,
      LOS rate: -0.001267 deg/s,
      cmd heading: 248.101895 deg,
      new cmd heading: 248.100741 deg.

2025-06-27T19:35:23.977Z,1751052923.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330175 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:24.104Z,1751052924.104 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:24.104Z,1751052924.104 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:24.104Z,1751052924.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:24.355Z,1751052924.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252312
2025-06-27T19:35:24.396Z,1751052924.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:24.399Z,1751052924.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 483.501251 m,
      bearing: 249.379062 deg,
      approach rate: -0.765954 m/s,
      LOS rate: -0.001270 deg/s,
      cmd heading: 248.100748 deg,
      new cmd heading: 248.099138 deg.

2025-06-27T19:35:24.400Z,1751052924.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330147 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:24.607Z,1751052924.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504266
2025-06-27T19:35:24.795Z,1751052924.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:24.798Z,1751052924.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 483.190460 m,
      bearing: 249.378408 deg,
      approach rate: -0.779032 m/s,
      LOS rate: -0.001639 deg/s,
      cmd heading: 248.099136 deg,
      new cmd heading: 248.097175 deg.

2025-06-27T19:35:24.799Z,1751052924.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330112 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:24.861Z,1751052924.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757257
2025-06-27T19:35:25.113Z,1751052925.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009518
2025-06-27T19:35:25.179Z,1751052925.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:25.182Z,1751052925.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 482.895813 m,
      bearing: 249.377771 deg,
      approach rate: -0.767053 m/s,
      LOS rate: -0.001659 deg/s,
      cmd heading: 248.097169 deg,
      new cmd heading: 248.095256 deg.

2025-06-27T19:35:25.184Z,1751052925.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330079 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:25.363Z,1751052925.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260264
2025-06-27T19:35:25.607Z,1751052925.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:25.609Z,1751052925.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 482.576141 m,
      bearing: 249.376843 deg,
      approach rate: -0.748272 m/s,
      LOS rate: -0.002175 deg/s,
      cmd heading: 248.095256 deg,
      new cmd heading: 248.092469 deg.

2025-06-27T19:35:25.610Z,1751052925.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330030 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:25.615Z,1751052925.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512440
2025-06-27T19:35:25.867Z,1751052925.867 [DAT](INFO): DAT read: Rx Time:19:35:24.1416

2025-06-27T19:35:25.868Z,1751052925.868 [DAT](INFO): Rx dataTimestamp_ set to:1751052925.867499
2025-06-27T19:35:25.868Z,1751052925.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765283
2025-06-27T19:35:25.998Z,1751052925.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:26.001Z,1751052926.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 502.43 m.
2025-06-27T19:35:26.005Z,1751052926.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 502.429169 m,
      nav range: 482.284698 m,
      bearing: 249.375983 deg,
      approach rate: -0.738501 m/s,
      LOS rate: -0.002178 deg/s,
      cmd heading: 248.092469 deg,
      new cmd heading: 248.089890 deg.

2025-06-27T19:35:26.007Z,1751052926.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329986 target range: 502.429169 and range: 507.00 m.
2025-06-27T19:35:26.120Z,1751052926.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017183
2025-06-27T19:35:26.377Z,1751052926.377 [DAT](INFO): DAT read: 19:35:24.1416 LVL= 21552, 26769, 24738, 32755, AGC= 71, IDX= 393,-0.21, 0.028,-1.546,-0.051,-0.628, PHS= 0.744,-0.872, 0.574, RAW= 144.5,  -5.9, CAL= 150.1, -14.9, ROT= 359.9,  14.9

2025-06-27T19:35:26.379Z,1751052926.379 [DAT](INFO): got valid direction response:
 19:35:24.1416 LVL= 21552, 26769, 24738, 32755, AGC= 71, IDX= 393,-0.21, 0.028,-1.546,-0.051,-0.628, PHS= 0.744,-0.872, 0.574, RAW= 144.5,  -5.9, CAL= 150.1, -14.9, ROT= 359.9,  14.9

2025-06-27T19:35:26.380Z,1751052926.380 [DAT](INFO): DAT read: Bearing 359.9,  14.9 (Local)

2025-06-27T19:35:26.380Z,1751052926.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  14.9 (Local)

2025-06-27T19:35:26.382Z,1751052926.382 [DAT](INFO): DAT read: Range 10 to 50 : 503.6 m  (Round-trip  671.5 ms) speed  0.1 m/s

2025-06-27T19:35:26.382Z,1751052926.382 [DAT](INFO): DAT read: user:2583>

2025-06-27T19:35:26.383Z,1751052926.383 [DAT](INFO): DAT read: Tx time:19:35:25.2659

2025-06-27T19:35:26.383Z,1751052926.383 [DAT](INFO): Ping request sent.
2025-06-27T19:35:26.383Z,1751052926.383 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:26.384Z,1751052926.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:26.385Z,1751052926.385 [DAT](INFO): direction in FSK: [0.966375,-0.001687,-0.257133]
2025-06-27T19:35:26.385Z,1751052926.385 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:26.385Z,1751052926.385 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:26.389Z,1751052926.389 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:26.389Z,1751052926.389 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:26.539Z,1751052926.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 503.600006 m,
      deltaT: 4.283915 s,
      deltaX: -3.399994 m,
      approachRate: -0.793665 m/s,
      rangeRepo size: 4

2025-06-27T19:35:26.541Z,1751052926.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 499.061371 m,
      bearing: 248.680279 deg,
      lat: 36.906559 deg,
      lon: -122.116278 deg,
      deltaT: 4.283915 s,
      deltaX: -3.367798 m,
      approachRate: -0.786150 m/s,
      posRepo size: 4

2025-06-27T19:35:26.542Z,1751052926.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:26.557Z,1751052926.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 483.088287 m,
      bearing: 249.426326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002178 deg/s,
      cmd heading: 248.089901 deg,
      new cmd heading: 248.086416 deg.

2025-06-27T19:35:26.558Z,1751052926.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329925 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:26.624Z,1751052926.624 [DAT](INFO): DAT read: TxSync time:19:35:25.2651

2025-06-27T19:35:26.897Z,1751052926.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:26.900Z,1751052926.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 482.765198 m,
      bearing: 249.424515 deg,
      approach rate: -0.890510 m/s,
      LOS rate: -0.004994 deg/s,
      cmd heading: 248.086404 deg,
      new cmd heading: 248.080968 deg.

2025-06-27T19:35:26.901Z,1751052926.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329830 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:27.285Z,1751052927.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:27.288Z,1751052927.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 482.488739 m,
      bearing: 249.422964 deg,
      approach rate: -0.712181 m/s,
      LOS rate: -0.003999 deg/s,
      cmd heading: 248.080967 deg,
      new cmd heading: 248.076311 deg.

2025-06-27T19:35:27.289Z,1751052927.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329749 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:27.712Z,1751052927.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:27.719Z,1751052927.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 482.173248 m,
      bearing: 249.420264 deg,
      approach rate: -0.738645 m/s,
      LOS rate: -0.006325 deg/s,
      cmd heading: 248.076323 deg,
      new cmd heading: 248.068218 deg.

2025-06-27T19:35:27.720Z,1751052927.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329607 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:28.065Z,1751052928.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:28.068Z,1751052928.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:28.070Z,1751052928.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 481.892700 m,
      bearing: 249.417915 deg,
      approach rate: -0.789785 m/s,
      LOS rate: -0.006617 deg/s,
      cmd heading: 248.068209 deg,
      new cmd heading: 248.061157 deg.

2025-06-27T19:35:28.071Z,1751052928.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329484 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:28.136Z,1751052928.136 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:28.137Z,1751052928.137 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:28.137Z,1751052928.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:28.387Z,1751052928.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003809
2025-06-27T19:35:28.472Z,1751052928.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:28.497Z,1751052928.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 481.590057 m,
      bearing: 249.415420 deg,
      approach rate: -0.748999 m/s,
      LOS rate: -0.006179 deg/s,
      cmd heading: 248.061160 deg,
      new cmd heading: 248.053669 deg.

2025-06-27T19:35:28.511Z,1751052928.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329353 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:28.640Z,1751052928.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256596
2025-06-27T19:35:28.891Z,1751052928.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507898
2025-06-27T19:35:28.893Z,1751052928.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:28.896Z,1751052928.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 481.276428 m,
      bearing: 249.412846 deg,
      approach rate: -0.745146 m/s,
      LOS rate: -0.006121 deg/s,
      cmd heading: 248.053674 deg,
      new cmd heading: 248.045946 deg.

2025-06-27T19:35:28.896Z,1751052928.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329218 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:29.143Z,1751052929.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759762
2025-06-27T19:35:29.269Z,1751052929.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:29.271Z,1751052929.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 480.993774 m,
      bearing: 249.410529 deg,
      approach rate: -0.751759 m/s,
      LOS rate: -0.006166 deg/s,
      cmd heading: 248.045942 deg,
      new cmd heading: 248.038987 deg.

2025-06-27T19:35:29.272Z,1751052929.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329097 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:29.395Z,1751052929.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011863
2025-06-27T19:35:29.648Z,1751052929.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264813
2025-06-27T19:35:29.714Z,1751052929.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:29.717Z,1751052929.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 480.658142 m,
      bearing: 249.407880 deg,
      approach rate: -0.753747 m/s,
      LOS rate: -0.005952 deg/s,
      cmd heading: 248.038975 deg,
      new cmd heading: 248.031025 deg.

2025-06-27T19:35:29.718Z,1751052929.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328958 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:29.899Z,1751052929.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515779
2025-06-27T19:35:30.080Z,1751052930.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:30.083Z,1751052930.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:30.085Z,1751052930.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 480.380463 m,
      bearing: 249.405696 deg,
      approach rate: -0.753225 m/s,
      LOS rate: -0.005929 deg/s,
      cmd heading: 248.031025 deg,
      new cmd heading: 248.024468 deg.

2025-06-27T19:35:30.087Z,1751052930.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328844 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:30.152Z,1751052930.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768032
2025-06-27T19:35:30.403Z,1751052930.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019737
2025-06-27T19:35:30.479Z,1751052930.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:30.481Z,1751052930.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 480.081818 m,
      bearing: 249.403358 deg,
      approach rate: -0.754413 m/s,
      LOS rate: -0.005910 deg/s,
      cmd heading: 248.024468 deg,
      new cmd heading: 248.017450 deg.

2025-06-27T19:35:30.482Z,1751052930.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328721 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:30.655Z,1751052930.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271926
2025-06-27T19:35:30.908Z,1751052930.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523972
2025-06-27T19:35:30.918Z,1751052930.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:30.921Z,1751052930.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 479.750458 m,
      bearing: 249.400945 deg,
      approach rate: -0.754145 m/s,
      LOS rate: -0.005496 deg/s,
      cmd heading: 248.017447 deg,
      new cmd heading: 248.010202 deg.

2025-06-27T19:35:30.922Z,1751052930.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328595 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:31.163Z,1751052931.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779113
2025-06-27T19:35:31.315Z,1751052931.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:31.318Z,1751052931.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 479.457458 m,
      bearing: 249.398808 deg,
      approach rate: -0.736783 m/s,
      LOS rate: -0.005376 deg/s,
      cmd heading: 248.010207 deg,
      new cmd heading: 248.003793 deg.

2025-06-27T19:35:31.319Z,1751052931.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328483 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:31.412Z,1751052931.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028508
2025-06-27T19:35:31.663Z,1751052931.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279937
2025-06-27T19:35:31.758Z,1751052931.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:31.761Z,1751052931.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 479.114716 m,
      bearing: 249.396610 deg,
      approach rate: -0.774634 m/s,
      LOS rate: -0.004972 deg/s,
      cmd heading: 248.003786 deg,
      new cmd heading: 247.997187 deg.

2025-06-27T19:35:31.762Z,1751052931.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328367 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:31.915Z,1751052931.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531795
2025-06-27T19:35:32.093Z,1751052932.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:32.095Z,1751052932.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:32.098Z,1751052932.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 478.859100 m,
      bearing: 249.394969 deg,
      approach rate: -0.757686 m/s,
      LOS rate: -0.004867 deg/s,
      cmd heading: 247.997175 deg,
      new cmd heading: 247.992249 deg.

2025-06-27T19:35:32.099Z,1751052932.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328281 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:32.169Z,1751052932.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784691
2025-06-27T19:35:32.419Z,1751052932.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035885
2025-06-27T19:35:32.526Z,1751052932.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:32.529Z,1751052932.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 478.546906 m,
      bearing: 249.392949 deg,
      approach rate: -0.731415 m/s,
      LOS rate: -0.004734 deg/s,
      cmd heading: 247.992257 deg,
      new cmd heading: 247.986194 deg.

2025-06-27T19:35:32.530Z,1751052932.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328176 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:32.671Z,1751052932.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287805
2025-06-27T19:35:32.923Z,1751052932.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539889
2025-06-27T19:35:32.929Z,1751052932.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:32.932Z,1751052932.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 478.228699 m,
      bearing: 249.391311 deg,
      approach rate: -0.782585 m/s,
      LOS rate: -0.004032 deg/s,
      cmd heading: 247.986192 deg,
      new cmd heading: 247.981274 deg.

2025-06-27T19:35:32.933Z,1751052932.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328090 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:33.180Z,1751052933.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795470
2025-06-27T19:35:33.315Z,1751052933.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:33.318Z,1751052933.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 477.934906 m,
      bearing: 249.389789 deg,
      approach rate: -0.760097 m/s,
      LOS rate: -0.003941 deg/s,
      cmd heading: 247.981274 deg,
      new cmd heading: 247.976705 deg.

2025-06-27T19:35:33.319Z,1751052933.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328010 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:33.427Z,1751052933.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043847
2025-06-27T19:35:33.679Z,1751052933.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.295764
2025-06-27T19:35:33.775Z,1751052933.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:33.782Z,1751052933.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 477.595673 m,
      bearing: 249.388921 deg,
      approach rate: -0.737353 m/s,
      LOS rate: -0.001888 deg/s,
      cmd heading: 247.976711 deg,
      new cmd heading: 247.974105 deg.

2025-06-27T19:35:33.783Z,1751052933.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327965 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:33.931Z,1751052933.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547810
2025-06-27T19:35:34.117Z,1751052934.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:34.119Z,1751052934.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:34.122Z,1751052934.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 477.326050 m,
      bearing: 249.388226 deg,
      approach rate: -0.784216 m/s,
      LOS rate: -0.002023 deg/s,
      cmd heading: 247.974116 deg,
      new cmd heading: 247.972030 deg.

2025-06-27T19:35:34.123Z,1751052934.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327929 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:34.185Z,1751052934.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800887
2025-06-27T19:35:34.435Z,1751052934.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051807
2025-06-27T19:35:34.521Z,1751052934.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:34.524Z,1751052934.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 477.020935 m,
      bearing: 249.387431 deg,
      approach rate: -0.759171 m/s,
      LOS rate: -0.001979 deg/s,
      cmd heading: 247.972040 deg,
      new cmd heading: 247.969653 deg.

2025-06-27T19:35:34.525Z,1751052934.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327887 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:34.687Z,1751052934.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303842
2025-06-27T19:35:34.939Z,1751052934.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555904
2025-06-27T19:35:34.950Z,1751052934.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:34.953Z,1751052934.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 476.695190 m,
      bearing: 249.386702 deg,
      approach rate: -0.759869 m/s,
      LOS rate: -0.001701 deg/s,
      cmd heading: 247.969663 deg,
      new cmd heading: 247.967475 deg.

2025-06-27T19:35:34.954Z,1751052934.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327849 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:35.192Z,1751052935.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808119
2025-06-27T19:35:35.330Z,1751052935.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:35.333Z,1751052935.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 476.406342 m,
      bearing: 249.386044 deg,
      approach rate: -0.760321 m/s,
      LOS rate: -0.001734 deg/s,
      cmd heading: 247.967477 deg,
      new cmd heading: 247.965501 deg.

2025-06-27T19:35:35.333Z,1751052935.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327815 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:35.443Z,1751052935.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059853
2025-06-27T19:35:35.696Z,1751052935.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311903
2025-06-27T19:35:35.801Z,1751052935.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:35.808Z,1751052935.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 476.061707 m,
      bearing: 249.385486 deg,
      approach rate: -0.731622 m/s,
      LOS rate: -0.001185 deg/s,
      cmd heading: 247.965510 deg,
      new cmd heading: 247.963835 deg.

2025-06-27T19:35:35.809Z,1751052935.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327785 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:35.947Z,1751052935.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563887
2025-06-27T19:35:36.156Z,1751052936.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:36.159Z,1751052936.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:36.161Z,1751052936.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 475.773224 m,
      bearing: 249.384988 deg,
      approach rate: -0.806257 m/s,
      LOS rate: -0.001392 deg/s,
      cmd heading: 247.963843 deg,
      new cmd heading: 247.962349 deg.

2025-06-27T19:35:36.162Z,1751052936.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327759 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:36.199Z,1751052936.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815787
2025-06-27T19:35:36.227Z,1751052936.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:35:36.451Z,1751052936.451 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:36.452Z,1751052936.452 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:36.452Z,1751052936.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:36.553Z,1751052936.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:36.572Z,1751052936.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 475.471619 m,
      bearing: 249.384463 deg,
      approach rate: -0.765000 m/s,
      LOS rate: -0.001332 deg/s,
      cmd heading: 247.962341 deg,
      new cmd heading: 247.960765 deg.

2025-06-27T19:35:36.573Z,1751052936.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327732 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:36.703Z,1751052936.703 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:36.703Z,1751052936.703 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:36.704Z,1751052936.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:36.955Z,1751052936.955 [DAT](INFO): Reached modem response timeout
2025-06-27T19:35:36.955Z,1751052936.955 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:36.956Z,1751052936.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:37.020Z,1751052937.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:37.027Z,1751052937.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 475.138916 m,
      bearing: 249.383635 deg,
      approach rate: -0.713122 m/s,
      LOS rate: -0.001775 deg/s,
      cmd heading: 247.960756 deg,
      new cmd heading: 247.958271 deg.

2025-06-27T19:35:37.028Z,1751052937.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327688 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:37.207Z,1751052937.207 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:35:37.208Z,1751052937.208 [DAT](INFO): response not received
2025-06-27T19:35:37.208Z,1751052937.208 [DAT](INFO): DAT read: user:2584>

2025-06-27T19:35:37.208Z,1751052937.208 [DAT](ERROR): No response from remote modem.
2025-06-27T19:35:37.209Z,1751052937.209 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:35:37.209Z,1751052937.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:37.232Z,1751052937.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:35:37.380Z,1751052937.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:37.383Z,1751052937.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 474.833435 m,
      bearing: 249.382875 deg,
      approach rate: -0.847623 m/s,
      LOS rate: -0.002113 deg/s,
      cmd heading: 247.958270 deg,
      new cmd heading: 247.955986 deg.

2025-06-27T19:35:37.383Z,1751052937.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327648 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:37.460Z,1751052937.460 [DAT](INFO): DAT read: Tx time:19:35:36.2160

2025-06-27T19:35:37.460Z,1751052937.460 [DAT](INFO): Ping request sent.
2025-06-27T19:35:37.460Z,1751052937.460 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:37.461Z,1751052937.461 [DAT](INFO): DAT read: TxSync time:19:35:36.2152

2025-06-27T19:35:37.462Z,1751052937.462 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:37.463Z,1751052937.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002482
2025-06-27T19:35:37.711Z,1751052937.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251361
2025-06-27T19:35:37.802Z,1751052937.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:37.805Z,1751052937.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 474.504730 m,
      bearing: 249.382581 deg,
      approach rate: -0.777937 m/s,
      LOS rate: -0.000694 deg/s,
      cmd heading: 247.955975 deg,
      new cmd heading: 247.955095 deg.

2025-06-27T19:35:37.806Z,1751052937.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327633 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:37.965Z,1751052937.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504513
2025-06-27T19:35:38.215Z,1751052938.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755390
2025-06-27T19:35:38.228Z,1751052938.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:38.231Z,1751052938.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:38.233Z,1751052938.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 474.171722 m,
      bearing: 249.382313 deg,
      approach rate: -0.777781 m/s,
      LOS rate: -0.000627 deg/s,
      cmd heading: 247.955101 deg,
      new cmd heading: 247.954295 deg.

2025-06-27T19:35:38.235Z,1751052938.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327619 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:38.467Z,1751052938.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007395
2025-06-27T19:35:38.603Z,1751052938.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:38.606Z,1751052938.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 473.900452 m,
      bearing: 249.382075 deg,
      approach rate: -0.727671 m/s,
      LOS rate: -0.000638 deg/s,
      cmd heading: 247.954308 deg,
      new cmd heading: 247.953595 deg.

2025-06-27T19:35:38.611Z,1751052938.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327607 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:38.720Z,1751052938.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260061
2025-06-27T19:35:38.972Z,1751052938.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511876
2025-06-27T19:35:39.044Z,1751052939.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:39.051Z,1751052939.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 473.540710 m,
      bearing: 249.381926 deg,
      approach rate: -0.815562 m/s,
      LOS rate: -0.000339 deg/s,
      cmd heading: 247.953598 deg,
      new cmd heading: 247.953149 deg.

2025-06-27T19:35:39.052Z,1751052939.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327599 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:39.223Z,1751052939.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763330
2025-06-27T19:35:39.400Z,1751052939.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:39.403Z,1751052939.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 473.255463 m,
      bearing: 249.381834 deg,
      approach rate: -0.802085 m/s,
      LOS rate: -0.000257 deg/s,
      cmd heading: 247.953161 deg,
      new cmd heading: 247.952887 deg.

2025-06-27T19:35:39.404Z,1751052939.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327594 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:39.477Z,1751052939.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017028
2025-06-27T19:35:39.727Z,1751052939.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267288
2025-06-27T19:35:39.836Z,1751052939.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:39.842Z,1751052939.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 472.915833 m,
      bearing: 249.381707 deg,
      approach rate: -0.779220 m/s,
      LOS rate: -0.000292 deg/s,
      cmd heading: 247.952888 deg,
      new cmd heading: 247.952507 deg.

2025-06-27T19:35:39.843Z,1751052939.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327588 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:39.979Z,1751052939.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519330
2025-06-27T19:35:40.217Z,1751052940.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:40.220Z,1751052940.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 472.630981 m,
      bearing: 249.381601 deg,
      approach rate: -0.777600 m/s,
      LOS rate: -0.000291 deg/s,
      cmd heading: 247.952505 deg,
      new cmd heading: 247.952185 deg.

2025-06-27T19:35:40.221Z,1751052940.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327582 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:40.232Z,1751052940.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771507
2025-06-27T19:35:40.483Z,1751052940.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023282
2025-06-27T19:35:40.596Z,1751052940.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:40.599Z,1751052940.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:40.601Z,1751052940.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 472.323059 m,
      bearing: 249.381549 deg,
      approach rate: -0.776505 m/s,
      LOS rate: -0.000130 deg/s,
      cmd heading: 247.952177 deg,
      new cmd heading: 247.952023 deg.

2025-06-27T19:35:40.602Z,1751052940.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327579 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:40.740Z,1751052940.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278922
2025-06-27T19:35:40.988Z,1751052940.988 [DAT](INFO): DAT read: Rx Time:19:35:39.2765

2025-06-27T19:35:40.988Z,1751052940.988 [DAT](INFO): Rx dataTimestamp_ set to:1751052940.987917
2025-06-27T19:35:40.989Z,1751052940.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528726
2025-06-27T19:35:41.057Z,1751052941.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:41.080Z,1751052941.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 471.968842 m,
      bearing: 249.381548 deg,
      approach rate: -0.772047 m/s,
      LOS rate: -0.000003 deg/s,
      cmd heading: 247.952013 deg,
      new cmd heading: 247.952009 deg.

2025-06-27T19:35:41.081Z,1751052941.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327579 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:41.239Z,1751052941.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779278
2025-06-27T19:35:41.451Z,1751052941.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 499.06 m.
2025-06-27T19:35:41.453Z,1751052941.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 499.061371 m,
      nav range: 471.665649 m,
      bearing: 249.381515 deg,
      approach rate: -0.771387 m/s,
      LOS rate: -0.000083 deg/s,
      cmd heading: 247.952013 deg,
      new cmd heading: 247.951916 deg.

2025-06-27T19:35:41.455Z,1751052941.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327577 target range: 499.061371 and range: 503.60 m.
2025-06-27T19:35:41.500Z,1751052941.500 [DAT](INFO): DAT read: 19:35:39.2765 LVL= 25744, 29329, 23474, 32755, AGC= 71, IDX= 354, 0.23,-1.087,-2.266,-1.059,-1.700, PHS= 0.700,-0.519, 0.638, RAW= 147.4, -13.7, CAL= 154.1, -21.7, ROT= 355.9,  21.7

2025-06-27T19:35:41.502Z,1751052941.502 [DAT](INFO): got valid direction response:
 19:35:39.2765 LVL= 25744, 29329, 23474, 32755, AGC= 71, IDX= 354, 0.23,-1.087,-2.266,-1.059,-1.700, PHS= 0.700,-0.519, 0.638, RAW= 147.4, -13.7, CAL= 154.1, -21.7, ROT= 355.9,  21.7

2025-06-27T19:35:41.503Z,1751052941.503 [DAT](INFO): DAT read: Bearing 355.9,  21.7 (Local)

2025-06-27T19:35:41.504Z,1751052941.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  21.7 (Local)

2025-06-27T19:35:41.506Z,1751052941.506 [DAT](INFO): DAT read: Range 10 to 50 : 492.3 m  (Round-trip  656.4 ms) speed  0.5 m/s

2025-06-27T19:35:41.507Z,1751052941.507 [DAT](INFO): DAT read: user:2585>

2025-06-27T19:35:41.508Z,1751052941.508 [DAT](INFO): DAT read: Tx time:19:35:40.3660

2025-06-27T19:35:41.509Z,1751052941.509 [DAT](INFO): Ping request sent.
2025-06-27T19:35:41.509Z,1751052941.509 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:41.509Z,1751052941.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:41.511Z,1751052941.511 [DAT](INFO): direction in FSK: [0.926755,-0.066431,-0.369747]
2025-06-27T19:35:41.512Z,1751052941.512 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:41.512Z,1751052941.512 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:41.517Z,1751052941.517 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:41.517Z,1751052941.517 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:41.744Z,1751052941.744 [DAT](INFO): DAT read: TxSync time:19:35:40.3652

2025-06-27T19:35:41.857Z,1751052941.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 492.299988 m,
      deltaT: 15.120207 s,
      deltaX: -11.300018 m,
      approachRate: -0.747345 m/s,
      rangeRepo size: 4

2025-06-27T19:35:41.866Z,1751052941.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 487.860229 m,
      bearing: 245.124831 deg,
      lat: 36.906491 deg,
      lon: -122.116264 deg,
      deltaT: 15.120207 s,
      deltaX: -11.201141 m,
      approachRate: -0.740806 m/s,
      posRepo size: 4

2025-06-27T19:35:41.871Z,1751052941.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:41.874Z,1751052941.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 472.953522 m,
      bearing: 248.466557 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000083 deg/s,
      cmd heading: 247.951904 deg,
      new cmd heading: 247.951803 deg.

2025-06-27T19:35:41.879Z,1751052941.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327575 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:42.208Z,1751052942.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:42.211Z,1751052942.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 472.670868 m,
      bearing: 248.465970 deg,
      approach rate: -0.804935 m/s,
      LOS rate: -0.001671 deg/s,
      cmd heading: 247.951795 deg,
      new cmd heading: 247.950035 deg.

2025-06-27T19:35:42.212Z,1751052942.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327545 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:42.633Z,1751052942.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:42.639Z,1751052942.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:42.641Z,1751052942.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 472.353973 m,
      bearing: 248.465312 deg,
      approach rate: -0.742361 m/s,
      LOS rate: -0.001544 deg/s,
      cmd heading: 247.950046 deg,
      new cmd heading: 247.948069 deg.

2025-06-27T19:35:42.652Z,1751052942.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327510 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:42.754Z,1751052942.754 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:42.754Z,1751052942.754 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:42.755Z,1751052942.755 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:43.004Z,1751052943.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495072
2025-06-27T19:35:43.073Z,1751052943.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:43.084Z,1751052943.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 472.035492 m,
      bearing: 248.463349 deg,
      approach rate: -0.730819 m/s,
      LOS rate: -0.004506 deg/s,
      cmd heading: 247.948079 deg,
      new cmd heading: 247.942188 deg.

2025-06-27T19:35:43.085Z,1751052943.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327407 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:43.255Z,1751052943.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746179
2025-06-27T19:35:43.448Z,1751052943.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:43.451Z,1751052943.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 471.745300 m,
      bearing: 248.461529 deg,
      approach rate: -0.769172 m/s,
      LOS rate: -0.004828 deg/s,
      cmd heading: 247.942178 deg,
      new cmd heading: 247.936714 deg.

2025-06-27T19:35:43.452Z,1751052943.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327312 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:43.508Z,1751052943.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999337
2025-06-27T19:35:43.762Z,1751052943.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252408
2025-06-27T19:35:43.849Z,1751052943.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:43.868Z,1751052943.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 471.448364 m,
      bearing: 248.458973 deg,
      approach rate: -0.739114 m/s,
      LOS rate: -0.006366 deg/s,
      cmd heading: 247.936714 deg,
      new cmd heading: 247.929041 deg.

2025-06-27T19:35:43.869Z,1751052943.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327178 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:44.012Z,1751052944.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502520
2025-06-27T19:35:44.241Z,1751052944.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:44.244Z,1751052944.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 471.164490 m,
      bearing: 248.456491 deg,
      approach rate: -0.725558 m/s,
      LOS rate: -0.006349 deg/s,
      cmd heading: 247.929037 deg,
      new cmd heading: 247.921585 deg.

2025-06-27T19:35:44.245Z,1751052944.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327048 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:44.263Z,1751052944.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754365
2025-06-27T19:35:44.515Z,1751052944.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006246
2025-06-27T19:35:44.636Z,1751052944.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:44.639Z,1751052944.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:44.641Z,1751052944.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 470.872925 m,
      bearing: 248.453922 deg,
      approach rate: -0.733052 m/s,
      LOS rate: -0.006462 deg/s,
      cmd heading: 247.921578 deg,
      new cmd heading: 247.913868 deg.

2025-06-27T19:35:44.643Z,1751052944.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326913 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:44.770Z,1751052944.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260552
2025-06-27T19:35:45.022Z,1751052945.022 [DAT](INFO): DAT read: Rx Time:19:35:43.4319

2025-06-27T19:35:45.023Z,1751052945.023 [DAT](INFO): Rx dataTimestamp_ set to:1751052945.022562
2025-06-27T19:35:45.024Z,1751052945.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514649
2025-06-27T19:35:45.089Z,1751052945.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:45.096Z,1751052945.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 470.559723 m,
      bearing: 248.451611 deg,
      approach rate: -0.694501 m/s,
      LOS rate: -0.005128 deg/s,
      cmd heading: 247.913874 deg,
      new cmd heading: 247.906935 deg.

2025-06-27T19:35:45.097Z,1751052945.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326792 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:45.271Z,1751052945.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762332
2025-06-27T19:35:45.472Z,1751052945.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 487.86 m.
2025-06-27T19:35:45.475Z,1751052945.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 487.860229 m,
      nav range: 470.267273 m,
      bearing: 248.449450 deg,
      approach rate: -0.765075 m/s,
      LOS rate: -0.005656 deg/s,
      cmd heading: 247.906934 deg,
      new cmd heading: 247.900448 deg.

2025-06-27T19:35:45.475Z,1751052945.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326679 target range: 487.860229 and range: 492.30 m.
2025-06-27T19:35:45.527Z,1751052945.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017645
2025-06-27T19:35:45.795Z,1751052945.795 [DAT](INFO): DAT read: 19:35:43.4319 LVL= 25408, 25633, 25522, 32755, AGC= 72, IDX= 500, 0.50, 2.523, 0.650, 2.430, 1.690, PHS= 0.921,-0.993, 0.737, RAW= 145.0,  -7.3, CAL= 151.0, -16.2, ROT= 359.0,  16.2

2025-06-27T19:35:45.799Z,1751052945.799 [DAT](INFO): got valid direction response:
 19:35:43.4319 LVL= 25408, 25633, 25522, 32755, AGC= 72, IDX= 500, 0.50, 2.523, 0.650, 2.430, 1.690, PHS= 0.921,-0.993, 0.737, RAW= 145.0,  -7.3, CAL= 151.0, -16.2, ROT= 359.0,  16.2

2025-06-27T19:35:45.801Z,1751052945.801 [DAT](INFO): DAT read: Bearing 359.0,  16.2 (Local)

2025-06-27T19:35:45.802Z,1751052945.802 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  16.2 (Local)

2025-06-27T19:35:45.844Z,1751052945.844 [DAT](INFO): DAT read: Range 10 to 50 : 496.3 m  (Round-trip  661.8 ms) speed  0.7 m/s

2025-06-27T19:35:45.844Z,1751052945.844 [DAT](INFO): DAT read: user:2586>

2025-06-27T19:35:45.845Z,1751052945.845 [DAT](INFO): DAT read: Tx time:19:35:44.5160

2025-06-27T19:35:45.845Z,1751052945.845 [DAT](INFO): Ping request sent.
2025-06-27T19:35:45.846Z,1751052945.846 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:45.859Z,1751052945.859 [DAT](INFO): DAT read: TxSync time:19:35:44.5152

2025-06-27T19:35:45.859Z,1751052945.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:45.860Z,1751052945.860 [DAT](INFO): direction in FSK: [0.960147,-0.016760,-0.278991]
2025-06-27T19:35:45.860Z,1751052945.860 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:45.861Z,1751052945.861 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:45.876Z,1751052945.876 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:45.876Z,1751052945.876 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:45.948Z,1751052945.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 496.299988 m,
      deltaT: 4.285245 s,
      deltaX: 4.000000 m,
      approachRate: 0.933436 m/s,
      rangeRepo size: 4

2025-06-27T19:35:45.954Z,1751052945.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 491.823425 m,
      bearing: 247.797900 deg,
      lat: 36.906457 deg,
      lon: -122.116278 deg,
      deltaT: 4.285245 s,
      deltaX: 3.963196 m,
      approachRate: 0.924847 m/s,
      posRepo size: 4

2025-06-27T19:35:45.955Z,1751052945.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:45.958Z,1751052945.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 472.455414 m,
      bearing: 248.079431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005656 deg/s,
      cmd heading: 247.900459 deg,
      new cmd heading: 247.892384 deg.

2025-06-27T19:35:45.967Z,1751052945.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326538 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:46.258Z,1751052946.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:46.261Z,1751052946.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 472.214325 m,
      bearing: 248.077239 deg,
      approach rate: -0.777114 m/s,
      LOS rate: -0.007069 deg/s,
      cmd heading: 247.892372 deg,
      new cmd heading: 247.885793 deg.

2025-06-27T19:35:46.262Z,1751052946.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326423 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:46.658Z,1751052946.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:46.660Z,1751052946.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:46.663Z,1751052946.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 471.917480 m,
      bearing: 248.074526 deg,
      approach rate: -0.737388 m/s,
      LOS rate: -0.006745 deg/s,
      cmd heading: 247.885788 deg,
      new cmd heading: 247.877643 deg.

2025-06-27T19:35:46.664Z,1751052946.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326281 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:46.786Z,1751052946.786 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:46.787Z,1751052946.787 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:46.788Z,1751052946.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:47.035Z,1751052947.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.189573
2025-06-27T19:35:47.087Z,1751052947.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:47.090Z,1751052947.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 471.601868 m,
      bearing: 248.071149 deg,
      approach rate: -0.739831 m/s,
      LOS rate: -0.007921 deg/s,
      cmd heading: 247.877646 deg,
      new cmd heading: 247.867509 deg.

2025-06-27T19:35:47.091Z,1751052947.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326104 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:47.287Z,1751052947.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441724
2025-06-27T19:35:47.460Z,1751052947.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:47.463Z,1751052947.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 471.325378 m,
      bearing: 248.068155 deg,
      approach rate: -0.740194 m/s,
      LOS rate: -0.008019 deg/s,
      cmd heading: 247.867510 deg,
      new cmd heading: 247.858525 deg.

2025-06-27T19:35:47.464Z,1751052947.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325947 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:47.540Z,1751052947.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693880
2025-06-27T19:35:47.794Z,1751052947.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948057
2025-06-27T19:35:47.925Z,1751052947.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:47.933Z,1751052947.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 470.995483 m,
      bearing: 248.064960 deg,
      approach rate: -0.710021 m/s,
      LOS rate: -0.006882 deg/s,
      cmd heading: 247.858522 deg,
      new cmd heading: 247.848929 deg.

2025-06-27T19:35:47.934Z,1751052947.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325780 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:48.045Z,1751052948.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199099
2025-06-27T19:35:48.295Z,1751052948.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449858
2025-06-27T19:35:48.300Z,1751052948.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:48.303Z,1751052948.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 470.717926 m,
      bearing: 248.062274 deg,
      approach rate: -0.740576 m/s,
      LOS rate: -0.007170 deg/s,
      cmd heading: 247.848932 deg,
      new cmd heading: 247.840871 deg.

2025-06-27T19:35:48.304Z,1751052948.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325639 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:48.547Z,1751052948.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701668
2025-06-27T19:35:48.707Z,1751052948.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:48.709Z,1751052948.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:48.713Z,1751052948.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 470.411713 m,
      bearing: 248.059342 deg,
      approach rate: -0.747591 m/s,
      LOS rate: -0.007163 deg/s,
      cmd heading: 247.840873 deg,
      new cmd heading: 247.832071 deg.

2025-06-27T19:35:48.714Z,1751052948.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325486 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:48.804Z,1751052948.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958351
2025-06-27T19:35:49.051Z,1751052949.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205747
2025-06-27T19:35:49.128Z,1751052949.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:49.147Z,1751052949.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 470.084778 m,
      bearing: 248.056611 deg,
      approach rate: -0.781662 m/s,
      LOS rate: -0.006536 deg/s,
      cmd heading: 247.832075 deg,
      new cmd heading: 247.823874 deg.

2025-06-27T19:35:49.148Z,1751052949.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325343 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:49.304Z,1751052949.304 [DAT](INFO): DAT read: Rx Time:19:35:47.5682

2025-06-27T19:35:49.304Z,1751052949.304 [DAT](INFO): Rx dataTimestamp_ set to:1751052949.303710
2025-06-27T19:35:49.305Z,1751052949.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458924
2025-06-27T19:35:49.519Z,1751052949.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 491.82 m.
2025-06-27T19:35:49.521Z,1751052949.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 491.823425 m,
      nav range: 469.805725 m,
      bearing: 248.054301 deg,
      approach rate: -0.714172 m/s,
      LOS rate: -0.005916 deg/s,
      cmd heading: 247.823879 deg,
      new cmd heading: 247.816945 deg.

2025-06-27T19:35:49.523Z,1751052949.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325222 target range: 491.823425 and range: 496.30 m.
2025-06-27T19:35:49.556Z,1751052949.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.710082
2025-06-27T19:35:49.832Z,1751052949.832 [DAT](INFO): DAT read: 19:35:47.5682 LVL= 25024, 27665, 21746, 30675, AGC= 71, IDX= 296, 0.21, 2.850, 1.362, 2.780, 2.175, PHS= 0.763,-0.766, 0.602, RAW= 144.5,  -8.3, CAL= 150.9, -17.3, ROT= 359.1,  17.3

2025-06-27T19:35:49.836Z,1751052949.836 [DAT](INFO): got valid direction response:
 19:35:47.5682 LVL= 25024, 27665, 21746, 30675, AGC= 71, IDX= 296, 0.21, 2.850, 1.362, 2.780, 2.175, PHS= 0.763,-0.766, 0.602, RAW= 144.5,  -8.3, CAL= 150.9, -17.3, ROT= 359.1,  17.3

2025-06-27T19:35:49.839Z,1751052949.839 [DAT](INFO): DAT read: Bearing 359.1,  17.3 (Local)

2025-06-27T19:35:49.840Z,1751052949.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  17.3 (Local)

2025-06-27T19:35:49.844Z,1751052949.844 [DAT](INFO): DAT read: Range 10 to 50 : 486.0 m  (Round-trip  648.1 ms) speed  0.5 m/s

2025-06-27T19:35:49.847Z,1751052949.847 [DAT](INFO): DAT read: user:2587>

2025-06-27T19:35:49.849Z,1751052949.849 [DAT](INFO): DAT read: Tx time:19:35:48.6660

2025-06-27T19:35:49.851Z,1751052949.851 [DAT](INFO): Ping request sent.
2025-06-27T19:35:49.851Z,1751052949.851 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:49.852Z,1751052949.852 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:49.855Z,1751052949.855 [DAT](INFO): direction in FSK: [0.954643,-0.014997,-0.297375]
2025-06-27T19:35:49.856Z,1751052949.856 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:49.857Z,1751052949.857 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:49.899Z,1751052949.899 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:49.899Z,1751052949.899 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:50.052Z,1751052950.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 486.000000 m,
      deltaT: 4.032166 s,
      deltaX: -10.299988 m,
      approachRate: -2.554455 m/s,
      rangeRepo size: 4

2025-06-27T19:35:50.060Z,1751052950.060 [DAT](INFO): DAT read: TxSync time:19:35:48.6652

2025-06-27T19:35:50.060Z,1751052950.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 481.616119 m,
      bearing: 247.677140 deg,
      lat: 36.906416 deg,
      lon: -122.116303 deg,
      deltaT: 4.032166 s,
      deltaX: -10.207306 m,
      approachRate: -2.531470 m/s,
      posRepo size: 4

2025-06-27T19:35:50.061Z,1751052950.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:50.066Z,1751052950.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 473.217133 m,
      bearing: 247.636487 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005916 deg/s,
      cmd heading: 247.816940 deg,
      new cmd heading: 247.807481 deg.

2025-06-27T19:35:50.083Z,1751052950.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325057 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:50.361Z,1751052950.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:50.364Z,1751052950.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 472.954437 m,
      bearing: 247.634969 deg,
      approach rate: -0.848469 m/s,
      LOS rate: -0.004907 deg/s,
      cmd heading: 247.807487 deg,
      new cmd heading: 247.802929 deg.

2025-06-27T19:35:50.365Z,1751052950.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324977 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:50.781Z,1751052950.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:50.784Z,1751052950.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:50.787Z,1751052950.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 472.636353 m,
      bearing: 247.633158 deg,
      approach rate: -0.752536 m/s,
      LOS rate: -0.004288 deg/s,
      cmd heading: 247.802924 deg,
      new cmd heading: 247.797486 deg.

2025-06-27T19:35:50.788Z,1751052950.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324882 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:50.815Z,1751052950.815 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:50.816Z,1751052950.816 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:50.816Z,1751052950.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:51.069Z,1751052951.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218019
2025-06-27T19:35:51.209Z,1751052951.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:51.216Z,1751052951.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 472.331146 m,
      bearing: 247.631281 deg,
      approach rate: -0.717309 m/s,
      LOS rate: -0.004414 deg/s,
      cmd heading: 247.797487 deg,
      new cmd heading: 247.791852 deg.

2025-06-27T19:35:51.217Z,1751052951.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324784 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:51.319Z,1751052951.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.468860
2025-06-27T19:35:51.571Z,1751052951.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720812
2025-06-27T19:35:51.642Z,1751052951.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:51.644Z,1751052951.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 471.990936 m,
      bearing: 247.629160 deg,
      approach rate: -0.786937 m/s,
      LOS rate: -0.004909 deg/s,
      cmd heading: 247.791859 deg,
      new cmd heading: 247.785493 deg.

2025-06-27T19:35:51.645Z,1751052951.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324673 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:51.827Z,1751052951.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976129
2025-06-27T19:35:52.039Z,1751052952.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:52.041Z,1751052952.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 471.700897 m,
      bearing: 247.626993 deg,
      approach rate: -0.738199 m/s,
      LOS rate: -0.005520 deg/s,
      cmd heading: 247.785493 deg,
      new cmd heading: 247.778987 deg.

2025-06-27T19:35:52.045Z,1751052952.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324559 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:52.075Z,1751052952.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224865
2025-06-27T19:35:52.328Z,1751052952.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476978
2025-06-27T19:35:52.404Z,1751052952.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:52.407Z,1751052952.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 471.413147 m,
      bearing: 247.624841 deg,
      approach rate: -0.777806 m/s,
      LOS rate: -0.005820 deg/s,
      cmd heading: 247.778991 deg,
      new cmd heading: 247.772532 deg.

2025-06-27T19:35:52.408Z,1751052952.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324447 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:52.579Z,1751052952.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728803
2025-06-27T19:35:52.817Z,1751052952.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:52.820Z,1751052952.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:52.822Z,1751052952.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 471.099213 m,
      bearing: 247.622528 deg,
      approach rate: -0.756168 m/s,
      LOS rate: -0.005575 deg/s,
      cmd heading: 247.772543 deg,
      new cmd heading: 247.765600 deg.

2025-06-27T19:35:52.823Z,1751052952.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324326 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:52.832Z,1751052952.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981175
2025-06-27T19:35:53.083Z,1751052953.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232697
2025-06-27T19:35:53.207Z,1751052953.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:53.209Z,1751052953.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 470.802795 m,
      bearing: 247.620745 deg,
      approach rate: -0.765948 m/s,
      LOS rate: -0.004610 deg/s,
      cmd heading: 247.765604 deg,
      new cmd heading: 247.760252 deg.

2025-06-27T19:35:53.211Z,1751052953.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324232 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:53.336Z,1751052953.336 [DAT](INFO): DAT read: Rx Time:19:35:51.7239

2025-06-27T19:35:53.337Z,1751052953.337 [DAT](INFO): Rx dataTimestamp_ set to:1751052953.336210
2025-06-27T19:35:53.337Z,1751052953.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486798
2025-06-27T19:35:53.588Z,1751052953.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736889
2025-06-27T19:35:53.592Z,1751052953.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:53.595Z,1751052953.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 470.510010 m,
      bearing: 247.619028 deg,
      approach rate: -0.759557 m/s,
      LOS rate: -0.004458 deg/s,
      cmd heading: 247.760249 deg,
      new cmd heading: 247.755094 deg.

2025-06-27T19:35:53.596Z,1751052953.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324142 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:53.842Z,1751052953.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.991004
2025-06-27T19:35:54.045Z,1751052954.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 481.62 m.
2025-06-27T19:35:54.048Z,1751052954.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 481.616119 m,
      nav range: 470.170654 m,
      bearing: 247.616608 deg,
      approach rate: -0.751839 m/s,
      LOS rate: -0.005363 deg/s,
      cmd heading: 247.755085 deg,
      new cmd heading: 247.747823 deg.

2025-06-27T19:35:54.049Z,1751052954.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324015 target range: 481.616119 and range: 486.00 m.
2025-06-27T19:35:54.104Z,1751052954.104 [DAT](INFO): DAT read: 19:35:51.7239 LVL= 19952, 25713, 19890, 32387, AGC= 72, IDX= 497, 0.04,-1.153,-2.595,-1.217,-1.876, PHS= 0.811,-0.672, 0.655, RAW= 144.5, -11.3, CAL= 151.7, -20.2, ROT= 358.3,  20.2

2025-06-27T19:35:54.105Z,1751052954.105 [DAT](INFO): got valid direction response:
 19:35:51.7239 LVL= 19952, 25713, 19890, 32387, AGC= 72, IDX= 497, 0.04,-1.153,-2.595,-1.217,-1.876, PHS= 0.811,-0.672, 0.655, RAW= 144.5, -11.3, CAL= 151.7, -20.2, ROT= 358.3,  20.2

2025-06-27T19:35:54.108Z,1751052954.108 [DAT](INFO): DAT read: Bearing 358.3,  20.2 (Local)

2025-06-27T19:35:54.109Z,1751052954.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  20.2 (Local)

2025-06-27T19:35:54.112Z,1751052954.112 [DAT](INFO): DAT read: Range 10 to 50 : 490.2 m  (Round-trip  653.7 ms) speed  0.7 m/s

2025-06-27T19:35:54.113Z,1751052954.113 [DAT](INFO): DAT read: user:2588>

2025-06-27T19:35:54.114Z,1751052954.114 [DAT](INFO): DAT read: Tx time:19:35:52.8161

2025-06-27T19:35:54.119Z,1751052954.119 [DAT](INFO): Ping request sent.
2025-06-27T19:35:54.119Z,1751052954.119 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:54.120Z,1751052954.120 [DAT](INFO): DAT read: TxSync time:19:35:52.8153

2025-06-27T19:35:54.121Z,1751052954.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:54.150Z,1751052954.150 [DAT](INFO): direction in FSK: [0.938080,-0.027842,-0.345298]
2025-06-27T19:35:54.151Z,1751052954.151 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:54.151Z,1751052954.151 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:54.163Z,1751052954.163 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:54.163Z,1751052954.163 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:54.415Z,1751052954.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 490.200012 m,
      deltaT: 4.282590 s,
      deltaX: 4.200012 m,
      approachRate: 0.980718 m/s,
      rangeRepo size: 4

2025-06-27T19:35:54.417Z,1751052954.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 485.779480 m,
      bearing: 246.889898 deg,
      lat: 36.906396 deg,
      lon: -122.116313 deg,
      deltaT: 4.282590 s,
      deltaX: 4.163361 m,
      approachRate: 0.972160 m/s,
      posRepo size: 4

2025-06-27T19:35:54.418Z,1751052954.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:54.421Z,1751052954.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 471.561005 m,
      bearing: 247.417046 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005363 deg/s,
      cmd heading: 247.747818 deg,
      new cmd heading: 247.741852 deg.

2025-06-27T19:35:54.421Z,1751052954.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323911 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:54.816Z,1751052954.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:54.819Z,1751052954.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 471.255768 m,
      bearing: 247.414802 deg,
      approach rate: -0.759950 m/s,
      LOS rate: -0.005590 deg/s,
      cmd heading: 247.741862 deg,
      new cmd heading: 247.735126 deg.

2025-06-27T19:35:54.820Z,1751052954.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323793 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:55.244Z,1751052955.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:55.246Z,1751052955.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:55.253Z,1751052955.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 470.952820 m,
      bearing: 247.412529 deg,
      approach rate: -0.704288 m/s,
      LOS rate: -0.005286 deg/s,
      cmd heading: 247.735114 deg,
      new cmd heading: 247.728293 deg.

2025-06-27T19:35:55.254Z,1751052955.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323674 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:55.355Z,1751052955.355 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:55.355Z,1751052955.355 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:55.355Z,1751052955.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:55.607Z,1751052955.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488266
2025-06-27T19:35:55.620Z,1751052955.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:55.622Z,1751052955.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 470.661011 m,
      bearing: 247.410429 deg,
      approach rate: -0.780919 m/s,
      LOS rate: -0.005623 deg/s,
      cmd heading: 247.728284 deg,
      new cmd heading: 247.721980 deg.

2025-06-27T19:35:55.623Z,1751052955.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323564 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:55.859Z,1751052955.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740330
2025-06-27T19:35:56.086Z,1751052956.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:56.089Z,1751052956.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 470.344635 m,
      bearing: 247.407703 deg,
      approach rate: -0.683880 m/s,
      LOS rate: -0.005897 deg/s,
      cmd heading: 247.721973 deg,
      new cmd heading: 247.713789 deg.

2025-06-27T19:35:56.090Z,1751052956.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323421 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:56.112Z,1751052956.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992405
2025-06-27T19:35:56.363Z,1751052956.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244184
2025-06-27T19:35:56.422Z,1751052956.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:56.425Z,1751052956.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 470.085663 m,
      bearing: 247.405498 deg,
      approach rate: -0.762129 m/s,
      LOS rate: -0.006494 deg/s,
      cmd heading: 247.713776 deg,
      new cmd heading: 247.707156 deg.

2025-06-27T19:35:56.426Z,1751052956.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323306 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:56.615Z,1751052956.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496179
2025-06-27T19:35:56.843Z,1751052956.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:56.846Z,1751052956.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 469.792938 m,
      bearing: 247.403007 deg,
      approach rate: -0.702788 m/s,
      LOS rate: -0.005983 deg/s,
      cmd heading: 247.707165 deg,
      new cmd heading: 247.699689 deg.

2025-06-27T19:35:56.851Z,1751052956.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323175 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:56.867Z,1751052956.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748330
2025-06-27T19:35:57.119Z,1751052957.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000162
2025-06-27T19:35:57.265Z,1751052957.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:57.268Z,1751052957.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:57.270Z,1751052957.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 469.478577 m,
      bearing: 247.400746 deg,
      approach rate: -0.732595 m/s,
      LOS rate: -0.005274 deg/s,
      cmd heading: 247.699679 deg,
      new cmd heading: 247.692890 deg.

2025-06-27T19:35:57.271Z,1751052957.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323057 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:57.371Z,1751052957.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252300
2025-06-27T19:35:57.623Z,1751052957.623 [DAT](INFO): DAT read: Rx Time:19:35:55.8604

2025-06-27T19:35:57.624Z,1751052957.624 [DAT](INFO): Rx dataTimestamp_ set to:1751052957.623669
2025-06-27T19:35:57.625Z,1751052957.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505360
2025-06-27T19:35:57.636Z,1751052957.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:57.639Z,1751052957.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 469.212219 m,
      bearing: 247.398806 deg,
      approach rate: -0.722768 m/s,
      LOS rate: -0.005268 deg/s,
      cmd heading: 247.692903 deg,
      new cmd heading: 247.687080 deg.

2025-06-27T19:35:57.640Z,1751052957.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322955 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:57.876Z,1751052957.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756522
2025-06-27T19:35:58.079Z,1751052958.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 485.78 m.
2025-06-27T19:35:58.082Z,1751052958.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 485.779480 m,
      nav range: 468.896820 m,
      bearing: 247.396527 deg,
      approach rate: -0.712100 m/s,
      LOS rate: -0.005148 deg/s,
      cmd heading: 247.687084 deg,
      new cmd heading: 247.680243 deg.

2025-06-27T19:35:58.083Z,1751052958.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322836 target range: 485.779480 and range: 490.20 m.
2025-06-27T19:35:58.134Z,1751052958.134 [DAT](INFO): DAT read: 19:35:55.8604 LVL= 18752, 24049, 18674, 32051, AGC= 72, IDX= 296, 0.08, 0.372,-1.312, 0.140,-0.320, PHS= 0.780,-0.945, 0.457, RAW= 139.9,  -3.7, CAL= 145.2, -13.1, ROT=   4.8,  13.1

2025-06-27T19:35:58.135Z,1751052958.135 [DAT](INFO): got valid direction response:
 19:35:55.8604 LVL= 18752, 24049, 18674, 32051, AGC= 72, IDX= 296, 0.08, 0.372,-1.312, 0.140,-0.320, PHS= 0.780,-0.945, 0.457, RAW= 139.9,  -3.7, CAL= 145.2, -13.1, ROT=   4.8,  13.1

2025-06-27T19:35:58.136Z,1751052958.136 [DAT](INFO): DAT read: Bearing   4.8,  13.1 (Local)

2025-06-27T19:35:58.136Z,1751052958.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  13.1 (Local)

2025-06-27T19:35:58.138Z,1751052958.138 [DAT](INFO): DAT read: Range 10 to 50 : 480.1 m  (Round-trip  640.2 ms) speed  0.7 m/s

2025-06-27T19:35:58.139Z,1751052958.139 [DAT](INFO): DAT read: user:2589>

2025-06-27T19:35:58.139Z,1751052958.139 [DAT](INFO): DAT read: Tx time:19:35:56.9661

2025-06-27T19:35:58.140Z,1751052958.140 [DAT](INFO): Ping request sent.
2025-06-27T19:35:58.140Z,1751052958.140 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:35:58.140Z,1751052958.140 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:35:58.141Z,1751052958.141 [DAT](INFO): direction in FSK: [0.970560,0.081500,-0.226651]
2025-06-27T19:35:58.141Z,1751052958.141 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:58.142Z,1751052958.142 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:58.145Z,1751052958.145 [DAT](INFO): publishing transmit ping time
2025-06-27T19:35:58.145Z,1751052958.145 [DAT](INFO): publishing direction and range info
2025-06-27T19:35:58.379Z,1751052958.379 [DAT](INFO): DAT read: TxSync time:19:35:56.9653

2025-06-27T19:35:58.481Z,1751052958.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 480.100006 m,
      deltaT: 4.035980 s,
      deltaX: -10.100006 m,
      approachRate: -2.502492 m/s,
      rangeRepo size: 4

2025-06-27T19:35:58.488Z,1751052958.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 475.772064 m,
      bearing: 252.293800 deg,
      lat: 36.906396 deg,
      lon: -122.116338 deg,
      deltaT: 4.035980 s,
      deltaX: -10.007416 m,
      approachRate: -2.479550 m/s,
      posRepo size: 4

2025-06-27T19:35:58.489Z,1751052958.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:35:58.496Z,1751052958.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 470.713013 m,
      bearing: 247.500467 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005148 deg/s,
      cmd heading: 247.680254 deg,
      new cmd heading: 247.674054 deg.

2025-06-27T19:35:58.497Z,1751052958.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322728 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:35:58.849Z,1751052958.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:35:58.853Z,1751052958.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 470.438385 m,
      bearing: 247.498557 deg,
      approach rate: -0.745074 m/s,
      LOS rate: -0.005184 deg/s,
      cmd heading: 247.674052 deg,
      new cmd heading: 247.668320 deg.

2025-06-27T19:35:58.854Z,1751052958.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322628 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:35:59.271Z,1751052959.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:35:59.274Z,1751052959.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:35:59.292Z,1751052959.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 470.131256 m,
      bearing: 247.495835 deg,
      approach rate: -0.723705 m/s,
      LOS rate: -0.006419 deg/s,
      cmd heading: 247.668315 deg,
      new cmd heading: 247.660142 deg.

2025-06-27T19:35:59.293Z,1751052959.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322485 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:35:59.387Z,1751052959.387 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:35:59.387Z,1751052959.387 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:35:59.388Z,1751052959.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:35:59.639Z,1751052959.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499597
2025-06-27T19:35:59.667Z,1751052959.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:35:59.670Z,1751052959.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 469.844940 m,
      bearing: 247.493252 deg,
      approach rate: -0.727479 m/s,
      LOS rate: -0.006565 deg/s,
      cmd heading: 247.660146 deg,
      new cmd heading: 247.652394 deg.

2025-06-27T19:35:59.671Z,1751052959.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322350 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:35:59.893Z,1751052959.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752782
2025-06-27T19:36:00.115Z,1751052960.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:00.117Z,1751052960.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 469.529907 m,
      bearing: 247.490807 deg,
      approach rate: -0.710415 m/s,
      LOS rate: -0.005519 deg/s,
      cmd heading: 247.652387 deg,
      new cmd heading: 247.645045 deg.

2025-06-27T19:36:00.123Z,1751052960.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322221 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:00.144Z,1751052960.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003649
2025-06-27T19:36:00.395Z,1751052960.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255510
2025-06-27T19:36:00.465Z,1751052960.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:00.468Z,1751052960.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 469.255859 m,
      bearing: 247.488697 deg,
      approach rate: -0.772346 m/s,
      LOS rate: -0.005951 deg/s,
      cmd heading: 247.645037 deg,
      new cmd heading: 247.638703 deg.

2025-06-27T19:36:00.469Z,1751052960.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322111 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:00.650Z,1751052960.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510281
2025-06-27T19:36:00.863Z,1751052960.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:00.866Z,1751052960.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 468.962891 m,
      bearing: 247.486467 deg,
      approach rate: -0.736871 m/s,
      LOS rate: -0.005611 deg/s,
      cmd heading: 247.638699 deg,
      new cmd heading: 247.632006 deg.

2025-06-27T19:36:00.867Z,1751052960.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321994 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:00.899Z,1751052960.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759607
2025-06-27T19:36:01.151Z,1751052961.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011520
2025-06-27T19:36:01.305Z,1751052961.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:01.311Z,1751052961.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:01.314Z,1751052961.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 468.647461 m,
      bearing: 247.484561 deg,
      approach rate: -0.703751 m/s,
      LOS rate: -0.004255 deg/s,
      cmd heading: 247.632005 deg,
      new cmd heading: 247.626284 deg.

2025-06-27T19:36:01.319Z,1751052961.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321894 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:01.403Z,1751052961.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263510
2025-06-27T19:36:01.656Z,1751052961.656 [DAT](INFO): DAT read: Rx Time:19:36:00.0163

2025-06-27T19:36:01.656Z,1751052961.656 [DAT](INFO): Rx dataTimestamp_ set to:1751052961.655715
2025-06-27T19:36:01.657Z,1751052961.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516700
2025-06-27T19:36:01.676Z,1751052961.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:01.679Z,1751052961.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 468.357300 m,
      bearing: 247.482831 deg,
      approach rate: -0.794631 m/s,
      LOS rate: -0.004741 deg/s,
      cmd heading: 247.626295 deg,
      new cmd heading: 247.621102 deg.

2025-06-27T19:36:01.680Z,1751052961.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321804 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:01.908Z,1751052961.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767974
2025-06-27T19:36:02.108Z,1751052962.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 475.77 m.
2025-06-27T19:36:02.120Z,1751052962.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 475.772064 m,
      nav range: 468.043701 m,
      bearing: 247.481384 deg,
      approach rate: -0.731413 m/s,
      LOS rate: -0.003377 deg/s,
      cmd heading: 247.621104 deg,
      new cmd heading: 247.616761 deg.

2025-06-27T19:36:02.141Z,1751052962.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321728 target range: 475.772064 and range: 480.10 m.
2025-06-27T19:36:02.169Z,1751052962.169 [DAT](INFO): DAT read: 19:36:00.0163 LVL= 27088, 29057, 24514, 32755, AGC= 68, IDX= 499, 0.14,-1.314,-2.888,-1.386,-2.157, PHS= 0.931,-0.684, 0.768, RAW= 144.7, -13.1, CAL= 151.5, -21.7, ROT= 358.5,  21.7

2025-06-27T19:36:02.171Z,1751052962.171 [DAT](INFO): got valid direction response:
 19:36:00.0163 LVL= 27088, 29057, 24514, 32755, AGC= 68, IDX= 499, 0.14,-1.314,-2.888,-1.386,-2.157, PHS= 0.931,-0.684, 0.768, RAW= 144.7, -13.1, CAL= 151.5, -21.7, ROT= 358.5,  21.7

2025-06-27T19:36:02.171Z,1751052962.171 [DAT](INFO): DAT read: Bearing 358.5,  21.7 (Local)

2025-06-27T19:36:02.172Z,1751052962.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  21.7 (Local)

2025-06-27T19:36:02.173Z,1751052962.173 [DAT](INFO): DAT read: Range 10 to 50 : 484.5 m  (Round-trip  646.0 ms) speed  0.8 m/s

2025-06-27T19:36:02.179Z,1751052962.179 [DAT](INFO): DAT read: user:2590>

2025-06-27T19:36:02.180Z,1751052962.180 [DAT](INFO): DAT read: Tx time:19:36:01.1161

2025-06-27T19:36:02.180Z,1751052962.180 [DAT](INFO): Ping request sent.
2025-06-27T19:36:02.180Z,1751052962.180 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:02.180Z,1751052962.180 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:02.181Z,1751052962.181 [DAT](INFO): direction in FSK: [0.928814,-0.024322,-0.369747]
2025-06-27T19:36:02.182Z,1751052962.182 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:02.182Z,1751052962.182 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:02.202Z,1751052962.202 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:02.202Z,1751052962.202 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:02.412Z,1751052962.412 [DAT](INFO): DAT read: TxSync time:19:36:01.1153

2025-06-27T19:36:02.517Z,1751052962.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 484.500000 m,
      deltaT: 4.033611 s,
      deltaX: 4.399994 m,
      approachRate: 1.090832 m/s,
      rangeRepo size: 4

2025-06-27T19:36:02.523Z,1751052962.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 480.133545 m,
      bearing: 246.844135 deg,
      lat: 36.906396 deg,
      lon: -122.116349 deg,
      deltaT: 4.033611 s,
      deltaX: 4.361481 m,
      approachRate: 1.081284 m/s,
      posRepo size: 4

2025-06-27T19:36:02.524Z,1751052962.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:02.528Z,1751052962.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 468.598816 m,
      bearing: 247.523174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003377 deg/s,
      cmd heading: 247.616760 deg,
      new cmd heading: 247.612596 deg.

2025-06-27T19:36:02.529Z,1751052962.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321655 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:02.884Z,1751052962.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:02.903Z,1751052962.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 468.315247 m,
      bearing: 247.521933 deg,
      approach rate: -0.771483 m/s,
      LOS rate: -0.003379 deg/s,
      cmd heading: 247.612608 deg,
      new cmd heading: 247.608882 deg.

2025-06-27T19:36:02.904Z,1751052962.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321590 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:03.309Z,1751052963.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:03.311Z,1751052963.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:03.314Z,1751052963.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 468.000366 m,
      bearing: 247.521116 deg,
      approach rate: -0.736562 m/s,
      LOS rate: -0.001912 deg/s,
      cmd heading: 247.608892 deg,
      new cmd heading: 247.606440 deg.

2025-06-27T19:36:03.315Z,1751052963.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321548 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:03.423Z,1751052963.423 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:03.423Z,1751052963.423 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:03.424Z,1751052963.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:03.676Z,1751052963.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495703
2025-06-27T19:36:03.751Z,1751052963.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:03.753Z,1751052963.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 467.676453 m,
      bearing: 247.520247 deg,
      approach rate: -0.737495 m/s,
      LOS rate: -0.001982 deg/s,
      cmd heading: 247.606433 deg,
      new cmd heading: 247.603822 deg.

2025-06-27T19:36:03.754Z,1751052963.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321502 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:03.927Z,1751052963.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747094
2025-06-27T19:36:04.176Z,1751052964.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:04.180Z,1751052964.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999281
2025-06-27T19:36:04.181Z,1751052964.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 467.364410 m,
      bearing: 247.519298 deg,
      approach rate: -0.732726 m/s,
      LOS rate: -0.002230 deg/s,
      cmd heading: 247.603810 deg,
      new cmd heading: 247.600962 deg.

2025-06-27T19:36:04.182Z,1751052964.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321452 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:04.431Z,1751052964.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251090
2025-06-27T19:36:04.683Z,1751052964.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503189
2025-06-27T19:36:04.706Z,1751052964.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:04.708Z,1751052964.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 466.992279 m,
      bearing: 247.518111 deg,
      approach rate: -0.702952 m/s,
      LOS rate: -0.002245 deg/s,
      cmd heading: 247.600969 deg,
      new cmd heading: 247.597404 deg.

2025-06-27T19:36:04.709Z,1751052964.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321390 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:04.935Z,1751052964.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755152
2025-06-27T19:36:05.187Z,1751052965.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007156
2025-06-27T19:36:05.199Z,1751052965.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:05.202Z,1751052965.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 466.630035 m,
      bearing: 247.516412 deg,
      approach rate: -0.734189 m/s,
      LOS rate: -0.003446 deg/s,
      cmd heading: 247.597417 deg,
      new cmd heading: 247.592317 deg.

2025-06-27T19:36:05.208Z,1751052965.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321301 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:05.440Z,1751052965.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259524
2025-06-27T19:36:05.587Z,1751052965.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:05.589Z,1751052965.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:05.608Z,1751052965.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 466.372284 m,
      bearing: 247.515158 deg,
      approach rate: -0.661456 m/s,
      LOS rate: -0.003220 deg/s,
      cmd heading: 247.592308 deg,
      new cmd heading: 247.588544 deg.

2025-06-27T19:36:05.609Z,1751052965.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321235 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:05.695Z,1751052965.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513738
2025-06-27T19:36:05.944Z,1751052965.944 [DAT](INFO): DAT read: Rx Time:19:36:04.1524

2025-06-27T19:36:05.944Z,1751052965.944 [DAT](INFO): Rx dataTimestamp_ set to:1751052965.943896
2025-06-27T19:36:05.945Z,1751052965.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764501
2025-06-27T19:36:05.974Z,1751052965.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:05.981Z,1751052965.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 466.083557 m,
      bearing: 247.513707 deg,
      approach rate: -0.749327 m/s,
      LOS rate: -0.003767 deg/s,
      cmd heading: 247.588538 deg,
      new cmd heading: 247.584184 deg.

2025-06-27T19:36:05.982Z,1751052965.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321159 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:06.195Z,1751052966.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015066
2025-06-27T19:36:06.365Z,1751052966.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.13 m.
2025-06-27T19:36:06.369Z,1751052966.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 480.133545 m,
      nav range: 465.784760 m,
      bearing: 247.511308 deg,
      approach rate: -0.763647 m/s,
      LOS rate: -0.006136 deg/s,
      cmd heading: 247.584194 deg,
      new cmd heading: 247.576991 deg.

2025-06-27T19:36:06.370Z,1751052966.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321033 target range: 480.133545 and range: 484.50 m.
2025-06-27T19:36:06.456Z,1751052966.456 [DAT](INFO): DAT read: 19:36:04.1524 LVL= 22512, 26961, 23442, 30403, AGC= 74, IDX= 292, 0.01, 2.030, 0.217, 1.856, 1.326, PHS= 0.792,-1.062, 0.527, RAW= 142.4,  -3.0, CAL= 147.4, -12.2, ROT=   2.6,  12.2

2025-06-27T19:36:06.457Z,1751052966.457 [DAT](INFO): got valid direction response:
 19:36:04.1524 LVL= 22512, 26961, 23442, 30403, AGC= 74, IDX= 292, 0.01, 2.030, 0.217, 1.856, 1.326, PHS= 0.792,-1.062, 0.527, RAW= 142.4,  -3.0, CAL= 147.4, -12.2, ROT=   2.6,  12.2

2025-06-27T19:36:06.458Z,1751052966.458 [DAT](INFO): DAT read: Bearing   2.6,  12.2 (Local)

2025-06-27T19:36:06.459Z,1751052966.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,  12.2 (Local)

2025-06-27T19:36:06.460Z,1751052966.460 [DAT](INFO): DAT read: Range 10 to 50 : 474.0 m  (Round-trip  632.1 ms) speed  0.5 m/s

2025-06-27T19:36:06.461Z,1751052966.461 [DAT](INFO): DAT read: user:2591>

2025-06-27T19:36:06.462Z,1751052966.462 [DAT](INFO): DAT read: Tx time:19:36:05.2662

2025-06-27T19:36:06.462Z,1751052966.462 [DAT](INFO): Ping request sent.
2025-06-27T19:36:06.462Z,1751052966.462 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:06.470Z,1751052966.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:06.471Z,1751052966.471 [DAT](INFO): direction in FSK: [0.976410,0.044339,-0.211325]
2025-06-27T19:36:06.472Z,1751052966.472 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:06.472Z,1751052966.472 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:06.480Z,1751052966.480 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:06.480Z,1751052966.480 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:06.699Z,1751052966.699 [DAT](INFO): DAT read: TxSync time:19:36:05.2654

2025-06-27T19:36:06.793Z,1751052966.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 474.000000 m,
      deltaT: 4.286980 s,
      deltaX: -10.500000 m,
      approachRate: -2.449277 m/s,
      rangeRepo size: 4

2025-06-27T19:36:06.795Z,1751052966.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 469.728088 m,
      bearing: 250.487261 deg,
      lat: 36.906416 deg,
      lon: -122.116349 deg,
      deltaT: 4.286980 s,
      deltaX: -10.405457 m,
      approachRate: -2.427223 m/s,
      posRepo size: 4

2025-06-27T19:36:06.796Z,1751052966.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:06.798Z,1751052966.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 464.670074 m,
      bearing: 247.752486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006136 deg/s,
      cmd heading: 247.576981 deg,
      new cmd heading: 247.569127 deg.

2025-06-27T19:36:06.799Z,1751052966.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320897 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:07.195Z,1751052967.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:07.200Z,1751052967.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 464.388458 m,
      bearing: 247.750686 deg,
      approach rate: -0.728798 m/s,
      LOS rate: -0.004663 deg/s,
      cmd heading: 247.569140 deg,
      new cmd heading: 247.563735 deg.

2025-06-27T19:36:07.201Z,1751052967.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320802 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:07.367Z,1751052967.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:36:07.571Z,1751052967.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:07.574Z,1751052967.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 464.120392 m,
      bearing: 247.748951 deg,
      approach rate: -0.683965 m/s,
      LOS rate: -0.004428 deg/s,
      cmd heading: 247.563731 deg,
      new cmd heading: 247.558525 deg.

2025-06-27T19:36:07.575Z,1751052967.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320711 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:07.996Z,1751052967.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:08.004Z,1751052968.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:08.012Z,1751052968.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 463.818054 m,
      bearing: 247.746993 deg,
      approach rate: -0.698275 m/s,
      LOS rate: -0.004526 deg/s,
      cmd heading: 247.558513 deg,
      new cmd heading: 247.552633 deg.

2025-06-27T19:36:08.013Z,1751052968.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320609 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:08.211Z,1751052968.211 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:08.211Z,1751052968.211 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:08.211Z,1751052968.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:08.371Z,1751052968.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:36:08.382Z,1751052968.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:08.385Z,1751052968.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 463.520721 m,
      bearing: 247.744204 deg,
      approach rate: -0.785159 m/s,
      LOS rate: -0.007368 deg/s,
      cmd heading: 247.552639 deg,
      new cmd heading: 247.544268 deg.

2025-06-27T19:36:08.386Z,1751052968.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320463 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:08.465Z,1751052968.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002361
2025-06-27T19:36:08.715Z,1751052968.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253407
2025-06-27T19:36:08.765Z,1751052968.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:08.768Z,1751052968.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 463.244873 m,
      bearing: 247.741615 deg,
      approach rate: -0.720537 m/s,
      LOS rate: -0.006768 deg/s,
      cmd heading: 247.544278 deg,
      new cmd heading: 247.536506 deg.

2025-06-27T19:36:08.769Z,1751052968.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320327 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:08.968Z,1751052968.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505972
2025-06-27T19:36:09.205Z,1751052969.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:09.208Z,1751052969.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 462.925262 m,
      bearing: 247.738723 deg,
      approach rate: -0.725560 m/s,
      LOS rate: -0.006569 deg/s,
      cmd heading: 247.536519 deg,
      new cmd heading: 247.527838 deg.

2025-06-27T19:36:09.209Z,1751052969.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320176 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:09.219Z,1751052969.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757440
2025-06-27T19:36:09.471Z,1751052969.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009387
2025-06-27T19:36:09.574Z,1751052969.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:09.581Z,1751052969.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 462.657654 m,
      bearing: 247.736301 deg,
      approach rate: -0.725860 m/s,
      LOS rate: -0.006573 deg/s,
      cmd heading: 247.527831 deg,
      new cmd heading: 247.520562 deg.

2025-06-27T19:36:09.582Z,1751052969.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320049 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:09.724Z,1751052969.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261531
2025-06-27T19:36:09.970Z,1751052969.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:09.972Z,1751052969.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 462.371002 m,
      bearing: 247.733710 deg,
      approach rate: -0.724733 m/s,
      LOS rate: -0.006555 deg/s,
      cmd heading: 247.520564 deg,
      new cmd heading: 247.512786 deg.

2025-06-27T19:36:09.973Z,1751052969.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319913 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:09.976Z,1751052969.976 [DAT](INFO): DAT read: Rx Time:19:36:08.3083

2025-06-27T19:36:09.976Z,1751052969.976 [DAT](INFO): Rx dataTimestamp_ set to:1751052969.975704
2025-06-27T19:36:09.977Z,1751052969.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514574
2025-06-27T19:36:10.228Z,1751052970.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766307
2025-06-27T19:36:10.464Z,1751052970.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:10.466Z,1751052970.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.73 m.
2025-06-27T19:36:10.473Z,1751052970.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.728088 m,
      nav range: 462.037445 m,
      bearing: 247.731036 deg,
      approach rate: -0.672363 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 247.512778 deg,
      new cmd heading: 247.504748 deg.

2025-06-27T19:36:10.473Z,1751052970.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319773 target range: 469.728088 and range: 474.00 m.
2025-06-27T19:36:10.485Z,1751052970.485 [DAT](INFO): DAT read: 19:36:08.3083 LVL= 22304, 24817, 22066, 30707, AGC= 72, IDX= 497, 0.33, 1.467,-0.080, 1.392, 0.636, PHS= 0.919,-0.669, 0.753, RAW= 144.6, -13.2, CAL= 151.4, -21.7, ROT= 358.6,  21.7

2025-06-27T19:36:10.487Z,1751052970.487 [DAT](INFO): got valid direction response:
 19:36:08.3083 LVL= 22304, 24817, 22066, 30707, AGC= 72, IDX= 497, 0.33, 1.467,-0.080, 1.392, 0.636, PHS= 0.919,-0.669, 0.753, RAW= 144.6, -13.2, CAL= 151.4, -21.7, ROT= 358.6,  21.7

2025-06-27T19:36:10.488Z,1751052970.488 [DAT](INFO): DAT read: Bearing 358.6,  21.7 (Local)

2025-06-27T19:36:10.488Z,1751052970.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  21.7 (Local)

2025-06-27T19:36:10.489Z,1751052970.489 [DAT](INFO): DAT read: Range 10 to 50 : 478.5 m  (Round-trip  638.0 ms) speed  0.4 m/s

2025-06-27T19:36:10.490Z,1751052970.490 [DAT](INFO): DAT read: user:2592>

2025-06-27T19:36:10.491Z,1751052970.491 [DAT](INFO): DAT read: Tx time:19:36:09.4162

2025-06-27T19:36:10.491Z,1751052970.491 [DAT](INFO): Ping request sent.
2025-06-27T19:36:10.491Z,1751052970.491 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:10.492Z,1751052970.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:10.493Z,1751052970.493 [DAT](INFO): direction in FSK: [0.928855,-0.022701,-0.369747]
2025-06-27T19:36:10.493Z,1751052970.493 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:10.493Z,1751052970.493 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:10.501Z,1751052970.501 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:10.501Z,1751052970.501 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:10.732Z,1751052970.732 [DAT](INFO): DAT read: TxSync time:19:36:09.4154

2025-06-27T19:36:10.824Z,1751052970.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 478.500000 m,
      deltaT: 4.031215 s,
      deltaX: 4.500000 m,
      approachRate: 1.116289 m/s,
      rangeRepo size: 4

2025-06-27T19:36:10.826Z,1751052970.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 474.187225 m,
      bearing: 247.555963 deg,
      lat: 36.906390 deg,
      lon: -122.116385 deg,
      deltaT: 4.031215 s,
      deltaX: 4.459137 m,
      approachRate: 1.106152 m/s,
      posRepo size: 4

2025-06-27T19:36:10.831Z,1751052970.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:10.834Z,1751052970.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 465.816193 m,
      bearing: 247.557629 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005395 deg/s,
      cmd heading: 247.504745 deg,
      new cmd heading: 247.499036 deg.

2025-06-27T19:36:10.839Z,1751052970.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319673 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:11.255Z,1751052971.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:11.257Z,1751052971.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 465.503998 m,
      bearing: 247.555523 deg,
      approach rate: -0.722745 m/s,
      LOS rate: -0.004878 deg/s,
      cmd heading: 247.499035 deg,
      new cmd heading: 247.492714 deg.

2025-06-27T19:36:11.263Z,1751052971.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319563 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:11.594Z,1751052971.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:11.597Z,1751052971.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 465.243530 m,
      bearing: 247.553783 deg,
      approach rate: -0.758088 m/s,
      LOS rate: -0.005066 deg/s,
      cmd heading: 247.492724 deg,
      new cmd heading: 247.487503 deg.

2025-06-27T19:36:11.598Z,1751052971.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319472 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:12.025Z,1751052972.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:12.028Z,1751052972.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 464.933380 m,
      bearing: 247.551702 deg,
      approach rate: -0.720733 m/s,
      LOS rate: -0.004841 deg/s,
      cmd heading: 247.487506 deg,
      new cmd heading: 247.481257 deg.

2025-06-27T19:36:12.029Z,1751052972.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319363 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:12.417Z,1751052972.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:12.420Z,1751052972.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 464.643005 m,
      bearing: 247.550160 deg,
      approach rate: -0.739192 m/s,
      LOS rate: -0.003928 deg/s,
      cmd heading: 247.481249 deg,
      new cmd heading: 247.476620 deg.

2025-06-27T19:36:12.421Z,1751052972.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319282 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:12.797Z,1751052972.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:12.799Z,1751052972.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:12.802Z,1751052972.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 464.364624 m,
      bearing: 247.548574 deg,
      approach rate: -0.728048 m/s,
      LOS rate: -0.004150 deg/s,
      cmd heading: 247.476632 deg,
      new cmd heading: 247.471872 deg.

2025-06-27T19:36:12.803Z,1751052972.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319199 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:13.001Z,1751052973.001 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:13.001Z,1751052973.001 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:13.001Z,1751052973.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:13.252Z,1751052973.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760057
2025-06-27T19:36:13.263Z,1751052973.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:13.266Z,1751052973.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 464.020477 m,
      bearing: 247.546888 deg,
      approach rate: -0.741892 m/s,
      LOS rate: -0.003635 deg/s,
      cmd heading: 247.471878 deg,
      new cmd heading: 247.466819 deg.

2025-06-27T19:36:13.267Z,1751052973.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319111 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:13.503Z,1751052973.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011885
2025-06-27T19:36:13.652Z,1751052973.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:13.655Z,1751052973.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 463.749084 m,
      bearing: 247.545558 deg,
      approach rate: -0.697646 m/s,
      LOS rate: -0.003423 deg/s,
      cmd heading: 247.466824 deg,
      new cmd heading: 247.462829 deg.

2025-06-27T19:36:13.656Z,1751052973.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319041 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:13.756Z,1751052973.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264297
2025-06-27T19:36:14.008Z,1751052974.008 [DAT](INFO): DAT read: Rx Time:19:36:12.4552

2025-06-27T19:36:14.009Z,1751052974.009 [DAT](INFO): Rx dataTimestamp_ set to:1751052974.008648
2025-06-27T19:36:14.010Z,1751052974.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518062
2025-06-27T19:36:14.031Z,1751052974.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:14.033Z,1751052974.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 463.454620 m,
      bearing: 247.544107 deg,
      approach rate: -0.778936 m/s,
      LOS rate: -0.003840 deg/s,
      cmd heading: 247.462835 deg,
      new cmd heading: 247.458480 deg.

2025-06-27T19:36:14.034Z,1751052974.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318965 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:14.259Z,1751052974.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767767
2025-06-27T19:36:14.457Z,1751052974.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.19 m.
2025-06-27T19:36:14.464Z,1751052974.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 474.187225 m,
      nav range: 463.147858 m,
      bearing: 247.542597 deg,
      approach rate: -0.718966 m/s,
      LOS rate: -0.003541 deg/s,
      cmd heading: 247.458491 deg,
      new cmd heading: 247.453959 deg.

2025-06-27T19:36:14.465Z,1751052974.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318886 target range: 474.187225 and range: 478.50 m.
2025-06-27T19:36:14.513Z,1751052974.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020702
2025-06-27T19:36:14.770Z,1751052974.770 [DAT](INFO): DAT read: 19:36:12.4552 LVL= 23536, 32049, 25842, 32755, AGC= 69, IDX= 401, 0.24,-1.948, 2.950,-2.002,-2.684, PHS= 0.825,-0.602, 0.679, RAW= 144.7, -13.2, CAL= 151.5, -21.7, ROT= 358.5,  21.7

2025-06-27T19:36:14.771Z,1751052974.771 [DAT](INFO): got valid direction response:
 19:36:12.4552 LVL= 23536, 32049, 25842, 32755, AGC= 69, IDX= 401, 0.24,-1.948, 2.950,-2.002,-2.684, PHS= 0.825,-0.602, 0.679, RAW= 144.7, -13.2, CAL= 151.5, -21.7, ROT= 358.5,  21.7

2025-06-27T19:36:14.772Z,1751052974.772 [DAT](INFO): DAT read: Bearing 358.5,  21.7 (Local)

2025-06-27T19:36:14.772Z,1751052974.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  21.7 (Local)

2025-06-27T19:36:14.774Z,1751052974.774 [DAT](INFO): DAT read: Range 10 to 50 : 476.1 m  (Round-trip  634.9 ms) speed  0.6 m/s

2025-06-27T19:36:14.775Z,1751052974.775 [DAT](INFO): DAT read: user:2593>

2025-06-27T19:36:14.775Z,1751052974.775 [DAT](INFO): DAT read: Tx time:19:36:13.5662

2025-06-27T19:36:14.776Z,1751052974.776 [DAT](INFO): Ping request sent.
2025-06-27T19:36:14.776Z,1751052974.776 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:14.776Z,1751052974.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:14.777Z,1751052974.777 [DAT](INFO): direction in FSK: [0.928814,-0.024322,-0.369747]
2025-06-27T19:36:14.777Z,1751052974.777 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:14.777Z,1751052974.777 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:14.826Z,1751052974.826 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:14.826Z,1751052974.826 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:14.949Z,1751052974.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 476.100006 m,
      deltaT: 4.284278 s,
      deltaX: -2.399994 m,
      approachRate: -0.560186 m/s,
      rangeRepo size: 4

2025-06-27T19:36:14.956Z,1751052974.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 471.808411 m,
      bearing: 247.463645 deg,
      lat: 36.906390 deg,
      lon: -122.116386 deg,
      deltaT: 4.284278 s,
      deltaX: -2.378815 m,
      approachRate: -0.555243 m/s,
      posRepo size: 4

2025-06-27T19:36:14.956Z,1751052974.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:14.963Z,1751052974.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 462.882751 m,
      bearing: 247.545924 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003541 deg/s,
      cmd heading: 247.453956 deg,
      new cmd heading: 247.448736 deg.

2025-06-27T19:36:14.964Z,1751052974.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318795 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:15.020Z,1751052975.020 [DAT](INFO): DAT read: TxSync time:19:36:13.5654

2025-06-27T19:36:15.313Z,1751052975.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:15.317Z,1751052975.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:15.320Z,1751052975.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 462.591888 m,
      bearing: 247.544154 deg,
      approach rate: -0.790015 m/s,
      LOS rate: -0.004811 deg/s,
      cmd heading: 247.448738 deg,
      new cmd heading: 247.443423 deg.

2025-06-27T19:36:15.321Z,1751052975.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318702 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:15.520Z,1751052975.520 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:15.521Z,1751052975.521 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:15.521Z,1751052975.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:15.699Z,1751052975.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:15.702Z,1751052975.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 462.312988 m,
      bearing: 247.542529 deg,
      approach rate: -0.729542 m/s,
      LOS rate: -0.004252 deg/s,
      cmd heading: 247.443410 deg,
      new cmd heading: 247.438534 deg.

2025-06-27T19:36:15.707Z,1751052975.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318617 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:15.772Z,1751052975.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996208
2025-06-27T19:36:16.024Z,1751052976.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248196
2025-06-27T19:36:16.094Z,1751052976.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:16.096Z,1751052976.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 462.001221 m,
      bearing: 247.540791 deg,
      approach rate: -0.789877 m/s,
      LOS rate: -0.004408 deg/s,
      cmd heading: 247.438547 deg,
      new cmd heading: 247.433328 deg.

2025-06-27T19:36:16.097Z,1751052976.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318526 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:16.275Z,1751052976.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499678
2025-06-27T19:36:16.516Z,1751052976.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:16.519Z,1751052976.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 461.682556 m,
      bearing: 247.538529 deg,
      approach rate: -0.754637 m/s,
      LOS rate: -0.005361 deg/s,
      cmd heading: 247.433329 deg,
      new cmd heading: 247.426538 deg.

2025-06-27T19:36:16.520Z,1751052976.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318408 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:16.527Z,1751052976.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751708
2025-06-27T19:36:16.779Z,1751052976.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003657
2025-06-27T19:36:16.902Z,1751052976.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:16.904Z,1751052976.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 461.391388 m,
      bearing: 247.536444 deg,
      approach rate: -0.755044 m/s,
      LOS rate: -0.005410 deg/s,
      cmd heading: 247.426526 deg,
      new cmd heading: 247.420267 deg.

2025-06-27T19:36:16.905Z,1751052976.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318298 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:17.032Z,1751052977.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255825
2025-06-27T19:36:17.283Z,1751052977.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507629
2025-06-27T19:36:17.355Z,1751052977.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:17.357Z,1751052977.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:17.360Z,1751052977.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 461.048340 m,
      bearing: 247.533750 deg,
      approach rate: -0.753063 m/s,
      LOS rate: -0.005917 deg/s,
      cmd heading: 247.420270 deg,
      new cmd heading: 247.412183 deg.

2025-06-27T19:36:17.361Z,1751052977.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318157 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:17.535Z,1751052977.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759613
2025-06-27T19:36:17.719Z,1751052977.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:17.721Z,1751052977.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 460.787476 m,
      bearing: 247.531691 deg,
      approach rate: -0.755154 m/s,
      LOS rate: -0.005963 deg/s,
      cmd heading: 247.412183 deg,
      new cmd heading: 247.406002 deg.

2025-06-27T19:36:17.722Z,1751052977.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318049 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:17.788Z,1751052977.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012253
2025-06-27T19:36:18.039Z,1751052978.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263772
2025-06-27T19:36:18.113Z,1751052978.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:18.120Z,1751052978.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 460.478271 m,
      bearing: 247.529251 deg,
      approach rate: -0.753813 m/s,
      LOS rate: -0.005952 deg/s,
      cmd heading: 247.406008 deg,
      new cmd heading: 247.398683 deg.

2025-06-27T19:36:18.123Z,1751052978.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317922 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:18.291Z,1751052978.291 [DAT](INFO): DAT read: Rx Time:19:36:16.5904

2025-06-27T19:36:18.292Z,1751052978.292 [DAT](INFO): Rx dataTimestamp_ set to:1751052978.291638
2025-06-27T19:36:18.292Z,1751052978.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516782
2025-06-27T19:36:18.543Z,1751052978.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767685
2025-06-27T19:36:18.605Z,1751052978.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 471.81 m.
2025-06-27T19:36:18.608Z,1751052978.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 471.808411 m,
      nav range: 460.113983 m,
      bearing: 247.526380 deg,
      approach rate: -0.739759 m/s,
      LOS rate: -0.005837 deg/s,
      cmd heading: 247.398686 deg,
      new cmd heading: 247.390064 deg.

2025-06-27T19:36:18.609Z,1751052978.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317771 target range: 471.808411 and range: 476.10 m.
2025-06-27T19:36:18.801Z,1751052978.801 [DAT](INFO): DAT read: 19:36:16.5904 LVL= 27424, 32753, 28034, 32755, AGC= 69, IDX= 281,-0.45,-1.841,-3.056,-1.881,-2.516, PHS= 0.763,-0.492, 0.632, RAW= 144.5, -14.9, CAL= 151.0, -23.2, ROT= 359.0,  23.2

2025-06-27T19:36:18.802Z,1751052978.802 [DAT](INFO): got valid direction response:
 19:36:16.5904 LVL= 27424, 32753, 28034, 32755, AGC= 69, IDX= 281,-0.45,-1.841,-3.056,-1.881,-2.516, PHS= 0.763,-0.492, 0.632, RAW= 144.5, -14.9, CAL= 151.0, -23.2, ROT= 359.0,  23.2

2025-06-27T19:36:18.803Z,1751052978.803 [DAT](INFO): DAT read: Bearing 359.0,  23.2 (Local)

2025-06-27T19:36:18.804Z,1751052978.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  23.2 (Local)

2025-06-27T19:36:18.805Z,1751052978.805 [DAT](INFO): DAT read: Range 10 to 50 : 465.0 m  (Round-trip  620.0 ms) speed  0.6 m/s

2025-06-27T19:36:18.806Z,1751052978.806 [DAT](INFO): DAT read: user:2594>

2025-06-27T19:36:18.807Z,1751052978.807 [DAT](INFO): DAT read: Tx time:19:36:17.7163

2025-06-27T19:36:18.807Z,1751052978.807 [DAT](INFO): Ping request sent.
2025-06-27T19:36:18.807Z,1751052978.807 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:18.807Z,1751052978.807 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:18.808Z,1751052978.808 [DAT](INFO): direction in FSK: [0.918995,-0.016041,-0.393942]
2025-06-27T19:36:18.809Z,1751052978.809 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:18.809Z,1751052978.809 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:18.812Z,1751052978.812 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:18.812Z,1751052978.812 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:18.991Z,1751052978.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 465.000000 m,
      deltaT: 4.031579 s,
      deltaX: -11.100006 m,
      approachRate: -2.753265 m/s,
      rangeRepo size: 4

2025-06-27T19:36:18.999Z,1751052978.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 460.809692 m,
      bearing: 247.795610 deg,
      lat: 36.906390 deg,
      lon: -122.116385 deg,
      deltaT: 4.031579 s,
      deltaX: -10.998718 m,
      approachRate: -2.728142 m/s,
      posRepo size: 4

2025-06-27T19:36:19.000Z,1751052979.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:19.008Z,1751052979.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 459.749817 m,
      bearing: 247.519169 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005837 deg/s,
      cmd heading: 247.390053 deg,
      new cmd heading: 247.383391 deg.

2025-06-27T19:36:19.010Z,1751052979.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317655 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:19.048Z,1751052979.048 [DAT](INFO): DAT read: TxSync time:19:36:17.7155

2025-06-27T19:36:19.397Z,1751052979.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:19.399Z,1751052979.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:19.402Z,1751052979.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 459.430328 m,
      bearing: 247.516192 deg,
      approach rate: -0.772781 m/s,
      LOS rate: -0.007205 deg/s,
      cmd heading: 247.383387 deg,
      new cmd heading: 247.374450 deg.

2025-06-27T19:36:19.403Z,1751052979.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317499 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:19.551Z,1751052979.551 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:19.551Z,1751052979.551 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:19.551Z,1751052979.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:19.783Z,1751052979.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:19.785Z,1751052979.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 459.149994 m,
      bearing: 247.513624 deg,
      approach rate: -0.730995 m/s,
      LOS rate: -0.006701 deg/s,
      cmd heading: 247.374453 deg,
      new cmd heading: 247.366743 deg.

2025-06-27T19:36:19.786Z,1751052979.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317364 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:19.805Z,1751052979.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998000
2025-06-27T19:36:20.055Z,1751052980.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248263
2025-06-27T19:36:20.144Z,1751052980.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:20.147Z,1751052980.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 458.883667 m,
      bearing: 247.511162 deg,
      approach rate: -0.737566 m/s,
      LOS rate: -0.006823 deg/s,
      cmd heading: 247.366748 deg,
      new cmd heading: 247.359357 deg.

2025-06-27T19:36:20.152Z,1751052980.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317235 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:20.310Z,1751052980.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502471
2025-06-27T19:36:20.559Z,1751052980.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752194
2025-06-27T19:36:20.583Z,1751052980.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:20.585Z,1751052980.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 458.580872 m,
      bearing: 247.508190 deg,
      approach rate: -0.696073 m/s,
      LOS rate: -0.006836 deg/s,
      cmd heading: 247.359344 deg,
      new cmd heading: 247.350423 deg.

2025-06-27T19:36:20.591Z,1751052980.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317079 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:20.811Z,1751052980.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004313
2025-06-27T19:36:20.967Z,1751052980.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:20.970Z,1751052980.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 458.291687 m,
      bearing: 247.505329 deg,
      approach rate: -0.744314 m/s,
      LOS rate: -0.007369 deg/s,
      cmd heading: 247.350410 deg,
      new cmd heading: 247.341821 deg.

2025-06-27T19:36:20.987Z,1751052980.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316929 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:21.064Z,1751052981.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257268
2025-06-27T19:36:21.318Z,1751052981.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510507
2025-06-27T19:36:21.403Z,1751052981.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:21.405Z,1751052981.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:21.408Z,1751052981.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 457.965851 m,
      bearing: 247.502651 deg,
      approach rate: -0.744372 m/s,
      LOS rate: -0.006121 deg/s,
      cmd heading: 247.341832 deg,
      new cmd heading: 247.333793 deg.

2025-06-27T19:36:21.409Z,1751052981.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316789 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:21.567Z,1751052981.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760279
2025-06-27T19:36:21.785Z,1751052981.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:21.787Z,1751052981.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 457.690338 m,
      bearing: 247.500384 deg,
      approach rate: -0.725656 m/s,
      LOS rate: -0.005974 deg/s,
      cmd heading: 247.333799 deg,
      new cmd heading: 247.326994 deg.

2025-06-27T19:36:21.788Z,1751052981.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316670 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:21.820Z,1751052981.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012588
2025-06-27T19:36:22.071Z,1751052982.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264268
2025-06-27T19:36:22.160Z,1751052982.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:22.163Z,1751052982.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 457.418243 m,
      bearing: 247.498148 deg,
      approach rate: -0.724448 m/s,
      LOS rate: -0.005958 deg/s,
      cmd heading: 247.326996 deg,
      new cmd heading: 247.320284 deg.

2025-06-27T19:36:22.164Z,1751052982.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316553 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:22.326Z,1751052982.326 [DAT](INFO): DAT read: Rx Time:19:36:20.7465

2025-06-27T19:36:22.327Z,1751052982.327 [DAT](INFO): Rx dataTimestamp_ set to:1751052982.326433
2025-06-27T19:36:22.329Z,1751052982.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521407
2025-06-27T19:36:22.575Z,1751052982.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768090
2025-06-27T19:36:22.604Z,1751052982.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:22.607Z,1751052982.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 457.123016 m,
      bearing: 247.496149 deg,
      approach rate: -0.664537 m/s,
      LOS rate: -0.004502 deg/s,
      cmd heading: 247.320276 deg,
      new cmd heading: 247.314276 deg.

2025-06-27T19:36:22.608Z,1751052982.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316448 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:22.830Z,1751052982.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022063
2025-06-27T19:36:22.966Z,1751052982.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.81 m.
2025-06-27T19:36:22.969Z,1751052982.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 460.809692 m,
      nav range: 456.840759 m,
      bearing: 247.494261 deg,
      approach rate: -0.780865 m/s,
      LOS rate: -0.005227 deg/s,
      cmd heading: 247.314265 deg,
      new cmd heading: 247.308597 deg.

2025-06-27T19:36:22.970Z,1751052982.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316350 target range: 460.809692 and range: 465.00 m.
2025-06-27T19:36:23.085Z,1751052983.085 [DAT](INFO): DAT read: 19:36:20.7465 LVL= 17104, 25329, 17826, 21683, AGC= 71, IDX= 503,-0.09, 0.519,-1.250, 0.404,-0.403, PHS= 1.010,-0.800, 0.804, RAW= 144.0, -11.8, CAL= 151.1, -20.7, ROT= 358.9,  20.7

2025-06-27T19:36:23.087Z,1751052983.087 [DAT](INFO): got valid direction response:
 19:36:20.7465 LVL= 17104, 25329, 17826, 21683, AGC= 71, IDX= 503,-0.09, 0.519,-1.250, 0.404,-0.403, PHS= 1.010,-0.800, 0.804, RAW= 144.0, -11.8, CAL= 151.1, -20.7, ROT= 358.9,  20.7

2025-06-27T19:36:23.088Z,1751052983.088 [DAT](INFO): DAT read: Bearing 358.9,  20.7 (Local)

2025-06-27T19:36:23.088Z,1751052983.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  20.7 (Local)

2025-06-27T19:36:23.090Z,1751052983.090 [DAT](INFO): DAT read: Range 10 to 50 : 469.5 m  (Round-trip  626.1 ms) speed  0.5 m/s

2025-06-27T19:36:23.091Z,1751052983.091 [DAT](INFO): DAT read: user:2595>

2025-06-27T19:36:23.093Z,1751052983.093 [DAT](INFO): DAT read: Tx time:19:36:21.8663

2025-06-27T19:36:23.094Z,1751052983.094 [DAT](INFO): Ping request sent.
2025-06-27T19:36:23.095Z,1751052983.095 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:23.096Z,1751052983.096 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:23.097Z,1751052983.097 [DAT](INFO): direction in FSK: [0.935272,-0.017958,-0.353475]
2025-06-27T19:36:23.097Z,1751052983.097 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:23.098Z,1751052983.098 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:23.102Z,1751052983.102 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:23.102Z,1751052983.102 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:23.334Z,1751052983.334 [DAT](INFO): DAT read: TxSync time:19:36:21.8655

2025-06-27T19:36:23.457Z,1751052983.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 469.500000 m,
      deltaT: 4.284222 s,
      deltaX: 4.500000 m,
      approachRate: 1.050366 m/s,
      rangeRepo size: 4

2025-06-27T19:36:23.459Z,1751052983.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 465.270630 m,
      bearing: 247.362348 deg,
      lat: 36.906390 deg,
      lon: -122.116386 deg,
      deltaT: 4.284222 s,
      deltaX: 4.460938 m,
      approachRate: 1.041248 m/s,
      posRepo size: 4

2025-06-27T19:36:23.460Z,1751052983.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:23.463Z,1751052983.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 456.597290 m,
      bearing: 247.496417 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005227 deg/s,
      cmd heading: 247.308610 deg,
      new cmd heading: 247.300921 deg.

2025-06-27T19:36:23.464Z,1751052983.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316216 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:23.878Z,1751052983.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:23.880Z,1751052983.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:23.883Z,1751052983.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 456.295746 m,
      bearing: 247.493843 deg,
      approach rate: -0.710706 m/s,
      LOS rate: -0.006069 deg/s,
      cmd heading: 247.300932 deg,
      new cmd heading: 247.293208 deg.

2025-06-27T19:36:23.884Z,1751052983.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316081 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:24.087Z,1751052984.087 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:24.087Z,1751052984.087 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:24.087Z,1751052984.087 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:24.275Z,1751052984.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:24.278Z,1751052984.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 456.017883 m,
      bearing: 247.491426 deg,
      approach rate: -0.704031 m/s,
      LOS rate: -0.006128 deg/s,
      cmd heading: 247.293201 deg,
      new cmd heading: 247.285945 deg.

2025-06-27T19:36:24.279Z,1751052984.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315954 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:24.342Z,1751052984.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247990
2025-06-27T19:36:24.591Z,1751052984.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497664
2025-06-27T19:36:24.789Z,1751052984.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:24.796Z,1751052984.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 455.670746 m,
      bearing: 247.488751 deg,
      approach rate: -0.675005 m/s,
      LOS rate: -0.005206 deg/s,
      cmd heading: 247.285933 deg,
      new cmd heading: 247.277901 deg.

2025-06-27T19:36:24.797Z,1751052984.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315814 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:24.845Z,1751052984.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750523
2025-06-27T19:36:25.096Z,1751052985.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001842
2025-06-27T19:36:25.163Z,1751052985.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:25.165Z,1751052985.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 455.394928 m,
      bearing: 247.486586 deg,
      approach rate: -0.739581 m/s,
      LOS rate: -0.005809 deg/s,
      cmd heading: 247.277901 deg,
      new cmd heading: 247.271402 deg.

2025-06-27T19:36:25.166Z,1751052985.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315700 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:25.351Z,1751052985.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257137
2025-06-27T19:36:25.593Z,1751052985.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:25.596Z,1751052985.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 455.093323 m,
      bearing: 247.484291 deg,
      approach rate: -0.699762 m/s,
      LOS rate: -0.005329 deg/s,
      cmd heading: 247.271399 deg,
      new cmd heading: 247.264509 deg.

2025-06-27T19:36:25.597Z,1751052985.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315580 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:25.599Z,1751052985.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505703
2025-06-27T19:36:25.851Z,1751052985.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757595
2025-06-27T19:36:25.970Z,1751052985.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:25.972Z,1751052985.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:25.975Z,1751052985.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 454.828339 m,
      bearing: 247.482263 deg,
      approach rate: -0.699491 m/s,
      LOS rate: -0.005356 deg/s,
      cmd heading: 247.264514 deg,
      new cmd heading: 247.258427 deg.

2025-06-27T19:36:25.976Z,1751052985.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315474 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:26.104Z,1751052986.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009839
2025-06-27T19:36:26.359Z,1751052986.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264263
2025-06-27T19:36:26.450Z,1751052986.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:26.453Z,1751052986.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 454.499329 m,
      bearing: 247.480182 deg,
      approach rate: -0.689279 m/s,
      LOS rate: -0.004363 deg/s,
      cmd heading: 247.258421 deg,
      new cmd heading: 247.252174 deg.

2025-06-27T19:36:26.454Z,1751052986.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315364 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:26.607Z,1751052986.607 [DAT](INFO): DAT read: Rx Time:19:36:24.8828

2025-06-27T19:36:26.608Z,1751052986.608 [DAT](INFO): Rx dataTimestamp_ set to:1751052986.607585
2025-06-27T19:36:26.608Z,1751052986.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514700
2025-06-27T19:36:26.863Z,1751052986.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769009
2025-06-27T19:36:26.928Z,1751052986.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:26.931Z,1751052986.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 454.168213 m,
      bearing: 247.478084 deg,
      approach rate: -0.692279 m/s,
      LOS rate: -0.004389 deg/s,
      cmd heading: 247.252165 deg,
      new cmd heading: 247.245868 deg.

2025-06-27T19:36:26.932Z,1751052986.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315255 target range: 465.270630 and range: 469.50 m.
2025-06-27T19:36:27.112Z,1751052987.112 [DAT](INFO): DAT read: Range 10 to 50 : 459.3 m  (Round-trip  612.4 ms) speed  0.3 m/s

2025-06-27T19:36:27.113Z,1751052987.113 [DAT](INFO): DAT read: user:2596>

2025-06-27T19:36:27.114Z,1751052987.114 [DAT](INFO): DAT read: Tx time:19:36:25.9663

2025-06-27T19:36:27.114Z,1751052987.114 [DAT](INFO): Ping request sent.
2025-06-27T19:36:27.114Z,1751052987.114 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:27.115Z,1751052987.115 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:36:27.115Z,1751052987.115 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:27.115Z,1751052987.115 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:27.300Z,1751052987.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 459.299988 m,
      deltaT: 4.031852 s,
      deltaX: -10.200012 m,
      approachRate: -2.529858 m/s,
      rangeRepo size: 4

2025-06-27T19:36:27.300Z,1751052987.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:27.303Z,1751052987.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 453.906219 m,
      bearing: 247.476440 deg,
      approach rate: -0.705771 m/s,
      LOS rate: -0.004432 deg/s,
      cmd heading: 247.245881 deg,
      new cmd heading: 247.240945 deg.

2025-06-27T19:36:27.304Z,1751052987.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315168 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:27.366Z,1751052987.366 [DAT](INFO): DAT read: TxSync time:19:36:25.9655

2025-06-27T19:36:27.722Z,1751052987.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:27.761Z,1751052987.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 453.604675 m,
      bearing: 247.474406 deg,
      approach rate: -0.713344 m/s,
      LOS rate: -0.004814 deg/s,
      cmd heading: 247.240936 deg,
      new cmd heading: 247.234831 deg.

2025-06-27T19:36:27.762Z,1751052987.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315062 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:28.190Z,1751052988.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:28.193Z,1751052988.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:28.196Z,1751052988.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 453.268005 m,
      bearing: 247.472179 deg,
      approach rate: -0.714989 m/s,
      LOS rate: -0.004734 deg/s,
      cmd heading: 247.234844 deg,
      new cmd heading: 247.228156 deg.

2025-06-27T19:36:28.196Z,1751052988.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314945 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:28.377Z,1751052988.377 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:28.377Z,1751052988.377 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:28.378Z,1751052988.378 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:28.609Z,1751052988.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:28.612Z,1751052988.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 452.962585 m,
      bearing: 247.470623 deg,
      approach rate: -0.733167 m/s,
      LOS rate: -0.003737 deg/s,
      cmd heading: 247.228150 deg,
      new cmd heading: 247.223480 deg.

2025-06-27T19:36:28.613Z,1751052988.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314864 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:28.627Z,1751052988.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512899
2025-06-27T19:36:28.879Z,1751052988.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764875
2025-06-27T19:36:29.027Z,1751052989.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:29.030Z,1751052989.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 452.668182 m,
      bearing: 247.469146 deg,
      approach rate: -0.704720 m/s,
      LOS rate: -0.003537 deg/s,
      cmd heading: 247.223478 deg,
      new cmd heading: 247.219045 deg.

2025-06-27T19:36:29.035Z,1751052989.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314786 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:29.131Z,1751052989.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016924
2025-06-27T19:36:29.383Z,1751052989.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268960
2025-06-27T19:36:29.475Z,1751052989.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:29.478Z,1751052989.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 452.356567 m,
      bearing: 247.467612 deg,
      approach rate: -0.702834 m/s,
      LOS rate: -0.003462 deg/s,
      cmd heading: 247.219052 deg,
      new cmd heading: 247.214447 deg.

2025-06-27T19:36:29.483Z,1751052989.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314706 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:29.636Z,1751052989.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521113
2025-06-27T19:36:29.833Z,1751052989.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:29.836Z,1751052989.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 452.059509 m,
      bearing: 247.465835 deg,
      approach rate: -0.819889 m/s,
      LOS rate: -0.004910 deg/s,
      cmd heading: 247.214435 deg,
      new cmd heading: 247.209098 deg.

2025-06-27T19:36:29.837Z,1751052989.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314613 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:29.888Z,1751052989.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773689
2025-06-27T19:36:30.139Z,1751052990.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024820
2025-06-27T19:36:30.204Z,1751052990.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:30.206Z,1751052990.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:30.209Z,1751052990.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 451.780945 m,
      bearing: 247.464198 deg,
      approach rate: -0.745658 m/s,
      LOS rate: -0.004384 deg/s,
      cmd heading: 247.209107 deg,
      new cmd heading: 247.204194 deg.

2025-06-27T19:36:30.210Z,1751052990.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314527 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:30.394Z,1751052990.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279244
2025-06-27T19:36:30.644Z,1751052990.644 [DAT](INFO): DAT read: Rx Time:19:36:28.9787

2025-06-27T19:36:30.644Z,1751052990.644 [DAT](INFO): Rx dataTimestamp_ set to:1751052990.643753
2025-06-27T19:36:30.645Z,1751052990.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530121
2025-06-27T19:36:30.647Z,1751052990.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:30.650Z,1751052990.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 451.451752 m,
      bearing: 247.462289 deg,
      approach rate: -0.747697 m/s,
      LOS rate: -0.004338 deg/s,
      cmd heading: 247.204190 deg,
      new cmd heading: 247.198461 deg.

2025-06-27T19:36:30.651Z,1751052990.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314427 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:30.895Z,1751052990.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780877
2025-06-27T19:36:31.021Z,1751052991.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.27 m.
2025-06-27T19:36:31.025Z,1751052991.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.270630 m,
      nav range: 451.172394 m,
      bearing: 247.460741 deg,
      approach rate: -0.746334 m/s,
      LOS rate: -0.004140 deg/s,
      cmd heading: 247.198452 deg,
      new cmd heading: 247.193804 deg.

2025-06-27T19:36:31.027Z,1751052991.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314346 target range: 465.270630 and range: 459.30 m.
2025-06-27T19:36:31.154Z,1751052991.154 [DAT](INFO): DAT read: 19:36:28.9787 LVL= 19952, 27473, 19986, 32755, AGC= 71, IDX= 400, 0.22,-0.146,-1.639,-0.437,-0.802, PHS= 0.744,-0.790, 0.362, RAW= 136.2,  -4.6, CAL= 141.8, -14.7, ROT=   8.2,  14.7

2025-06-27T19:36:31.155Z,1751052991.155 [DAT](INFO): got valid direction response:
 19:36:28.9787 LVL= 19952, 27473, 19986, 32755, AGC= 71, IDX= 400, 0.22,-0.146,-1.639,-0.437,-0.802, PHS= 0.744,-0.790, 0.362, RAW= 136.2,  -4.6, CAL= 141.8, -14.7, ROT=   8.2,  14.7

2025-06-27T19:36:31.156Z,1751052991.156 [DAT](INFO): DAT read: Bearing   8.2,  14.7 (Local)

2025-06-27T19:36:31.157Z,1751052991.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  14.7 (Local)

2025-06-27T19:36:31.158Z,1751052991.158 [DAT](INFO): DAT read: Range 10 to 50 : 456.1 m  (Round-trip  608.2 ms) speed  0.6 m/s

2025-06-27T19:36:31.159Z,1751052991.159 [DAT](INFO): DAT read: user:2597>

2025-06-27T19:36:31.160Z,1751052991.160 [DAT](INFO): DAT read: Tx time:19:36:30.0664

2025-06-27T19:36:31.160Z,1751052991.160 [DAT](INFO): Ping request sent.
2025-06-27T19:36:31.160Z,1751052991.160 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:31.161Z,1751052991.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:31.162Z,1751052991.162 [DAT](INFO): direction in FSK: [0.957379,0.137960,-0.253758]
2025-06-27T19:36:31.162Z,1751052991.162 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:31.164Z,1751052991.164 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:31.179Z,1751052991.179 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:31.179Z,1751052991.179 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:31.399Z,1751052991.399 [DAT](INFO): DAT read: TxSync time:19:36:30.0656

2025-06-27T19:36:31.498Z,1751052991.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 456.100006 m,
      deltaT: 4.036534 s,
      deltaX: -3.199982 m,
      approachRate: -0.792755 m/s,
      rangeRepo size: 4

2025-06-27T19:36:31.504Z,1751052991.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 451.992035 m,
      bearing: 255.416323 deg,
      lat: 36.906390 deg,
      lon: -122.116386 deg,
      deltaT: 8.068386 s,
      deltaX: -13.278595 m,
      approachRate: -1.645756 m/s,
      posRepo size: 4

2025-06-27T19:36:31.505Z,1751052991.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:31.512Z,1751052991.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 450.865906 m,
      bearing: 247.459066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004140 deg/s,
      cmd heading: 247.193808 deg,
      new cmd heading: 247.187894 deg.

2025-06-27T19:36:31.513Z,1751052991.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314243 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:31.910Z,1751052991.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:31.913Z,1751052991.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 450.490387 m,
      bearing: 247.456869 deg,
      approach rate: -0.909196 m/s,
      LOS rate: -0.005325 deg/s,
      cmd heading: 247.187907 deg,
      new cmd heading: 247.181308 deg.

2025-06-27T19:36:31.914Z,1751052991.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314127 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:32.249Z,1751052992.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:32.251Z,1751052992.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:32.254Z,1751052992.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 450.241486 m,
      bearing: 247.455405 deg,
      approach rate: -0.729970 m/s,
      LOS rate: -0.004294 deg/s,
      cmd heading: 247.181295 deg,
      new cmd heading: 247.176902 deg.

2025-06-27T19:36:32.259Z,1751052992.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314051 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:32.408Z,1751052992.408 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:32.408Z,1751052992.408 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:32.409Z,1751052992.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:32.659Z,1751052992.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498968
2025-06-27T19:36:32.687Z,1751052992.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:32.690Z,1751052992.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 449.895996 m,
      bearing: 247.453330 deg,
      approach rate: -0.793339 m/s,
      LOS rate: -0.004769 deg/s,
      cmd heading: 247.176896 deg,
      new cmd heading: 247.170665 deg.

2025-06-27T19:36:32.691Z,1751052992.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313942 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:32.912Z,1751052992.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751379
2025-06-27T19:36:33.052Z,1751052993.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:33.054Z,1751052993.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 449.619263 m,
      bearing: 247.451699 deg,
      approach rate: -0.758124 m/s,
      LOS rate: -0.004471 deg/s,
      cmd heading: 247.170667 deg,
      new cmd heading: 247.165771 deg.

2025-06-27T19:36:33.055Z,1751052993.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313857 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:33.163Z,1751052993.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003100
2025-06-27T19:36:33.415Z,1751052993.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877
2025-06-27T19:36:33.441Z,1751052993.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:33.444Z,1751052993.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 449.326996 m,
      bearing: 247.450013 deg,
      approach rate: -0.749552 m/s,
      LOS rate: -0.004327 deg/s,
      cmd heading: 247.165777 deg,
      new cmd heading: 247.160716 deg.

2025-06-27T19:36:33.445Z,1751052993.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313768 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:33.667Z,1751052993.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507017
2025-06-27T19:36:33.869Z,1751052993.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:33.872Z,1751052993.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 448.999420 m,
      bearing: 247.448476 deg,
      approach rate: -0.766837 m/s,
      LOS rate: -0.003599 deg/s,
      cmd heading: 247.160722 deg,
      new cmd heading: 247.156110 deg.

2025-06-27T19:36:33.873Z,1751052993.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313688 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:33.921Z,1751052993.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760068
2025-06-27T19:36:34.171Z,1751052994.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010949
2025-06-27T19:36:34.257Z,1751052994.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:34.259Z,1751052994.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:34.261Z,1751052994.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 448.702637 m,
      bearing: 247.447096 deg,
      approach rate: -0.760404 m/s,
      LOS rate: -0.003538 deg/s,
      cmd heading: 247.156105 deg,
      new cmd heading: 247.151962 deg.

2025-06-27T19:36:34.275Z,1751052994.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313615 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:34.423Z,1751052994.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263011
2025-06-27T19:36:34.675Z,1751052994.675 [DAT](INFO): DAT read: Rx Time:19:36:33.0633

2025-06-27T19:36:34.676Z,1751052994.676 [DAT](INFO): Rx dataTimestamp_ set to:1751052994.675676
2025-06-27T19:36:34.676Z,1751052994.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516168
2025-06-27T19:36:34.678Z,1751052994.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:34.681Z,1751052994.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 448.392700 m,
      bearing: 247.445615 deg,
      approach rate: -0.739769 m/s,
      LOS rate: -0.003537 deg/s,
      cmd heading: 247.151952 deg,
      new cmd heading: 247.147506 deg.

2025-06-27T19:36:34.682Z,1751052994.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313538 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:34.927Z,1751052994.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767070
2025-06-27T19:36:35.072Z,1751052995.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.99 m.
2025-06-27T19:36:35.091Z,1751052995.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.992035 m,
      nav range: 448.097931 m,
      bearing: 247.444170 deg,
      approach rate: -0.747870 m/s,
      LOS rate: -0.003668 deg/s,
      cmd heading: 247.147499 deg,
      new cmd heading: 247.143162 deg.

2025-06-27T19:36:35.092Z,1751052995.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313462 target range: 451.992035 and range: 456.10 m.
2025-06-27T19:36:35.207Z,1751052995.207 [DAT](INFO): DAT read: 19:36:33.0633 LVL= 16432, 18929, 15074, 23107, AGC= 73, IDX= 291, 0.16,-1.907, 2.712,-2.234,-2.572, PHS= 0.754,-0.952, 0.335, RAW= 136.4,  -1.8, CAL= 141.6, -11.2, ROT=   8.4,  11.2

2025-06-27T19:36:35.208Z,1751052995.208 [DAT](INFO): got valid direction response:
 19:36:33.0633 LVL= 16432, 18929, 15074, 23107, AGC= 73, IDX= 291, 0.16,-1.907, 2.712,-2.234,-2.572, PHS= 0.754,-0.952, 0.335, RAW= 136.4,  -1.8, CAL= 141.6, -11.2, ROT=   8.4,  11.2

2025-06-27T19:36:35.209Z,1751052995.209 [DAT](INFO): DAT read: Bearing   8.4,  11.2 (Local)

2025-06-27T19:36:35.209Z,1751052995.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,  11.2 (Local)

2025-06-27T19:36:35.216Z,1751052995.216 [DAT](INFO): DAT read: Range 10 to 50 : 444.6 m  (Round-trip  592.8 ms) speed  0.8 m/s

2025-06-27T19:36:35.217Z,1751052995.217 [DAT](INFO): DAT read: user:2598>

2025-06-27T19:36:35.217Z,1751052995.217 [DAT](INFO): DAT read: Tx time:19:36:34.1664

2025-06-27T19:36:35.218Z,1751052995.218 [DAT](INFO): Ping request sent.
2025-06-27T19:36:35.218Z,1751052995.218 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:35.223Z,1751052995.223 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:35.224Z,1751052995.224 [DAT](INFO): direction in FSK: [0.970432,0.143301,-0.194234]
2025-06-27T19:36:35.225Z,1751052995.225 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:35.225Z,1751052995.225 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:35.234Z,1751052995.234 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:35.238Z,1751052995.238 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:35.431Z,1751052995.431 [DAT](INFO): DAT read: TxSync time:19:36:34.1656

2025-06-27T19:36:35.573Z,1751052995.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.600006 m,
      deltaT: 4.033367 s,
      deltaX: -11.500000 m,
      approachRate: -2.851216 m/s,
      rangeRepo size: 4

2025-06-27T19:36:35.584Z,1751052995.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 440.596436 m,
      bearing: 255.218677 deg,
      lat: 36.906443 deg,
      lon: -122.116395 deg,
      deltaT: 4.033367 s,
      deltaX: -11.395599 m,
      approachRate: -2.825332 m/s,
      posRepo size: 4

2025-06-27T19:36:35.584Z,1751052995.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:35.595Z,1751052995.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 446.270935 m,
      bearing: 248.171252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003668 deg/s,
      cmd heading: 247.143155 deg,
      new cmd heading: 247.137646 deg.

2025-06-27T19:36:35.596Z,1751052995.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313365 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:35.964Z,1751052995.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:35.982Z,1751052995.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 445.915527 m,
      bearing: 248.169984 deg,
      approach rate: -0.909069 m/s,
      LOS rate: -0.003245 deg/s,
      cmd heading: 247.137636 deg,
      new cmd heading: 247.133830 deg.

2025-06-27T19:36:35.987Z,1751052995.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313299 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:36.319Z,1751052996.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:36.321Z,1751052996.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:36.324Z,1751052996.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 445.645477 m,
      bearing: 248.169001 deg,
      approach rate: -0.755330 m/s,
      LOS rate: -0.002751 deg/s,
      cmd heading: 247.133839 deg,
      new cmd heading: 247.130888 deg.

2025-06-27T19:36:36.325Z,1751052996.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313248 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:36.439Z,1751052996.439 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:36.439Z,1751052996.439 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:36.439Z,1751052996.439 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:36.692Z,1751052996.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474145
2025-06-27T19:36:36.824Z,1751052996.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:36.827Z,1751052996.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 445.272858 m,
      bearing: 248.167684 deg,
      approach rate: -0.740496 m/s,
      LOS rate: -0.002618 deg/s,
      cmd heading: 247.130888 deg,
      new cmd heading: 247.126935 deg.

2025-06-27T19:36:36.828Z,1751052996.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313179 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:36.944Z,1751052996.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726534
2025-06-27T19:36:37.185Z,1751052997.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:37.188Z,1751052997.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 445.006653 m,
      bearing: 248.166625 deg,
      approach rate: -0.737412 m/s,
      LOS rate: -0.002937 deg/s,
      cmd heading: 247.126927 deg,
      new cmd heading: 247.123746 deg.

2025-06-27T19:36:37.189Z,1751052997.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313123 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:37.195Z,1751052997.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977546
2025-06-27T19:36:37.447Z,1751052997.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229426
2025-06-27T19:36:37.630Z,1751052997.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:37.648Z,1751052997.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 444.682556 m,
      bearing: 248.165193 deg,
      approach rate: -0.729570 m/s,
      LOS rate: -0.003227 deg/s,
      cmd heading: 247.123757 deg,
      new cmd heading: 247.119457 deg.

2025-06-27T19:36:37.649Z,1751052997.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313048 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:37.700Z,1751052997.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482524
2025-06-27T19:36:37.951Z,1751052997.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733428
2025-06-27T19:36:38.028Z,1751052998.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:38.035Z,1751052998.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 444.411316 m,
      bearing: 248.163956 deg,
      approach rate: -0.681241 m/s,
      LOS rate: -0.003109 deg/s,
      cmd heading: 247.119468 deg,
      new cmd heading: 247.115755 deg.

2025-06-27T19:36:38.036Z,1751052998.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312984 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:38.203Z,1751052998.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985464
2025-06-27T19:36:38.455Z,1751052998.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237341
2025-06-27T19:36:38.499Z,1751052998.499 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:36:38.577Z,1751052998.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:38.582Z,1751052998.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:38.585Z,1751052998.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 444.053192 m,
      bearing: 248.162263 deg,
      approach rate: -0.645996 m/s,
      LOS rate: -0.003055 deg/s,
      cmd heading: 247.115752 deg,
      new cmd heading: 247.110671 deg.

2025-06-27T19:36:38.586Z,1751052998.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312895 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:38.707Z,1751052998.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489500
2025-06-27T19:36:38.866Z,1751052998.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:38.869Z,1751052998.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 443.785034 m,
      bearing: 248.161128 deg,
      approach rate: -0.945570 m/s,
      LOS rate: -0.004004 deg/s,
      cmd heading: 247.110671 deg,
      new cmd heading: 247.107264 deg.

2025-06-27T19:36:38.869Z,1751052998.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312835 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:38.960Z,1751052998.960 [DAT](INFO): DAT read: Rx Time:19:36:37.1708

2025-06-27T19:36:38.960Z,1751052998.960 [DAT](INFO): Rx dataTimestamp_ set to:1751052998.959700
2025-06-27T19:36:38.961Z,1751052998.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742628
2025-06-27T19:36:39.211Z,1751052999.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.993453
2025-06-27T19:36:39.246Z,1751052999.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.60 m.
2025-06-27T19:36:39.249Z,1751052999.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 440.596436 m,
      nav range: 443.512085 m,
      bearing: 248.159942 deg,
      approach rate: -0.717468 m/s,
      LOS rate: -0.003119 deg/s,
      cmd heading: 247.107256 deg,
      new cmd heading: 247.103695 deg.

2025-06-27T19:36:39.251Z,1751052999.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312773 target range: 440.596436 and range: 444.60 m.
2025-06-27T19:36:39.470Z,1751052999.470 [DAT](INFO): DAT read: 19:36:37.1708 LVL= 22432, 23025, 22370, 32291, AGC= 70, IDX= 512, 0.05,-3.009, 1.582,-2.955, 2.702, PHS= 0.660,-1.073, 0.624, RAW= 148.9,  -2.5, CAL= 153.1, -11.3, ROT= 356.9,  11.3

2025-06-27T19:36:39.471Z,1751052999.471 [DAT](INFO): got valid direction response:
 19:36:37.1708 LVL= 22432, 23025, 22370, 32291, AGC= 70, IDX= 512, 0.05,-3.009, 1.582,-2.955, 2.702, PHS= 0.660,-1.073, 0.624, RAW= 148.9,  -2.5, CAL= 153.1, -11.3, ROT= 356.9,  11.3

2025-06-27T19:36:39.472Z,1751052999.472 [DAT](INFO): DAT read: Bearing 356.9,  11.3 (Local)

2025-06-27T19:36:39.472Z,1751052999.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.9,  11.3 (Local)

2025-06-27T19:36:39.474Z,1751052999.474 [DAT](INFO): DAT read: Range 10 to 50 : 450.2 m  (Round-trip  600.3 ms) speed  0.6 m/s

2025-06-27T19:36:39.475Z,1751052999.475 [DAT](INFO): DAT read: user:2599>

2025-06-27T19:36:39.476Z,1751052999.476 [DAT](INFO): DAT read: Tx time:19:36:38.2664

2025-06-27T19:36:39.476Z,1751052999.476 [DAT](INFO): Ping request sent.
2025-06-27T19:36:39.476Z,1751052999.476 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:39.476Z,1751052999.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:39.477Z,1751052999.477 [DAT](INFO): direction in FSK: [0.979180,-0.053030,-0.195946]
2025-06-27T19:36:39.478Z,1751052999.478 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:39.478Z,1751052999.478 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:39.482Z,1751052999.482 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:39.482Z,1751052999.482 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:39.503Z,1751052999.503 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:36:39.716Z,1751052999.716 [DAT](INFO): DAT read: TxSync time:19:36:38.2656

2025-06-27T19:36:39.722Z,1751052999.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.200012 m,
      deltaT: 4.282087 s,
      deltaX: 5.600006 m,
      approachRate: 1.307775 m/s,
      rangeRepo size: 4

2025-06-27T19:36:39.725Z,1751052999.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.145416 m,
      bearing: 244.616140 deg,
      lat: 36.906443 deg,
      lon: -122.116395 deg,
      deltaT: 4.282087 s,
      deltaX: 5.548981 m,
      approachRate: 1.295859 m/s,
      posRepo size: 4

2025-06-27T19:36:39.725Z,1751052999.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:39.732Z,1751052999.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 443.197021 m,
      bearing: 248.158183 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003119 deg/s,
      cmd heading: 247.103704 deg,
      new cmd heading: 247.099291 deg.

2025-06-27T19:36:39.733Z,1751052999.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312696 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:40.057Z,1751053000.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:40.060Z,1751053000.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 442.936707 m,
      bearing: 248.156754 deg,
      approach rate: -0.766324 m/s,
      LOS rate: -0.004207 deg/s,
      cmd heading: 247.099278 deg,
      new cmd heading: 247.094991 deg.

2025-06-27T19:36:40.061Z,1751053000.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312621 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:40.451Z,1751053000.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:40.454Z,1751053000.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 442.657074 m,
      bearing: 248.155230 deg,
      approach rate: -0.709599 m/s,
      LOS rate: -0.003870 deg/s,
      cmd heading: 247.094989 deg,
      new cmd heading: 247.090414 deg.

2025-06-27T19:36:40.455Z,1751053000.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312541 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:40.886Z,1751053000.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:40.888Z,1751053000.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:40.891Z,1751053000.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 442.345581 m,
      bearing: 248.155346 deg,
      approach rate: -0.712691 m/s,
      LOS rate: 0.000264 deg/s,
      cmd heading: 247.090426 deg,
      new cmd heading: 247.090772 deg.

2025-06-27T19:36:40.892Z,1751053000.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312548 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:40.975Z,1751053000.975 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:40.975Z,1751053000.975 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:40.976Z,1751053000.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:41.227Z,1751053001.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751178
2025-06-27T19:36:41.272Z,1751053001.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:41.275Z,1751053001.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 442.071136 m,
      bearing: 248.155430 deg,
      approach rate: -0.715351 m/s,
      LOS rate: 0.000221 deg/s,
      cmd heading: 247.090781 deg,
      new cmd heading: 247.091035 deg.

2025-06-27T19:36:41.276Z,1751053001.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312552 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:41.480Z,1751053001.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004301
2025-06-27T19:36:41.703Z,1751053001.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:41.705Z,1751053001.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 441.762512 m,
      bearing: 248.154086 deg,
      approach rate: -0.717335 m/s,
      LOS rate: -0.003128 deg/s,
      cmd heading: 247.091027 deg,
      new cmd heading: 247.086990 deg.

2025-06-27T19:36:41.706Z,1751053001.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312481 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:41.731Z,1751053001.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255170
2025-06-27T19:36:41.983Z,1751053001.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507193
2025-06-27T19:36:42.075Z,1751053002.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:42.077Z,1751053002.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 441.495483 m,
      bearing: 248.152883 deg,
      approach rate: -0.717147 m/s,
      LOS rate: -0.003232 deg/s,
      cmd heading: 247.086984 deg,
      new cmd heading: 247.083374 deg.

2025-06-27T19:36:42.079Z,1751053002.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312418 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:42.235Z,1751053002.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759099
2025-06-27T19:36:42.471Z,1751053002.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:42.473Z,1751053002.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 441.211029 m,
      bearing: 248.151560 deg,
      approach rate: -0.718553 m/s,
      LOS rate: -0.003345 deg/s,
      cmd heading: 247.083377 deg,
      new cmd heading: 247.079405 deg.

2025-06-27T19:36:42.487Z,1751053002.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011268
2025-06-27T19:36:42.495Z,1751053002.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312349 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:42.740Z,1751053002.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263230
2025-06-27T19:36:42.898Z,1751053002.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:42.900Z,1751053002.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:42.903Z,1751053002.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 440.899902 m,
      bearing: 248.150600 deg,
      approach rate: -0.723606 m/s,
      LOS rate: -0.002233 deg/s,
      cmd heading: 247.079416 deg,
      new cmd heading: 247.076536 deg.

2025-06-27T19:36:42.904Z,1751053002.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312299 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:42.992Z,1751053002.992 [DAT](INFO): DAT read: Rx Time:19:36:41.2669

2025-06-27T19:36:42.993Z,1751053002.993 [DAT](INFO): Rx dataTimestamp_ set to:1751053002.992469
2025-06-27T19:36:42.994Z,1751053002.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517541
2025-06-27T19:36:43.243Z,1751053003.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767201
2025-06-27T19:36:43.279Z,1751053003.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.15 m.
2025-06-27T19:36:43.281Z,1751053003.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.145416 m,
      nav range: 440.625458 m,
      bearing: 248.149729 deg,
      approach rate: -0.725290 m/s,
      LOS rate: -0.002305 deg/s,
      cmd heading: 247.076547 deg,
      new cmd heading: 247.073930 deg.

2025-06-27T19:36:43.283Z,1751053003.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312253 target range: 446.145416 and range: 450.20 m.
2025-06-27T19:36:43.501Z,1751053003.501 [DAT](INFO): DAT read: 19:36:41.2669 LVL= 27024, 26913, 24002, 32755, AGC= 67, IDX= 407, 0.47, 0.356,-1.180, 0.268,-0.308, PHS= 0.752,-0.825, 0.573, RAW= 144.1,  -6.8, CAL= 150.0, -15.8, ROT=   0.0,  15.8

2025-06-27T19:36:43.506Z,1751053003.506 [DAT](INFO): got valid direction response:
 19:36:41.2669 LVL= 27024, 26913, 24002, 32755, AGC= 67, IDX= 407, 0.47, 0.356,-1.180, 0.268,-0.308, PHS= 0.752,-0.825, 0.573, RAW= 144.1,  -6.8, CAL= 150.0, -15.8, ROT=   0.0,  15.8

2025-06-27T19:36:43.513Z,1751053003.513 [DAT](INFO): DAT read: Bearing   0.0,  15.8 (Local)

2025-06-27T19:36:43.513Z,1751053003.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.0,  15.8 (Local)

2025-06-27T19:36:43.515Z,1751053003.515 [DAT](INFO): DAT read: Range 10 to 50 : 447.3 m  (Round-trip  596.4 ms) speed  0.9 m/s

2025-06-27T19:36:43.516Z,1751053003.516 [DAT](INFO): DAT read: user:2600>

2025-06-27T19:36:43.516Z,1751053003.516 [DAT](INFO): DAT read: Tx time:19:36:42.3664

2025-06-27T19:36:43.517Z,1751053003.517 [DAT](INFO): Ping request sent.
2025-06-27T19:36:43.517Z,1751053003.517 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:43.517Z,1751053003.517 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:43.518Z,1751053003.518 [DAT](INFO): direction in FSK: [0.962218,0.000000,-0.272280]
2025-06-27T19:36:43.520Z,1751053003.520 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:43.521Z,1751053003.521 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:43.529Z,1751053003.529 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:43.529Z,1751053003.529 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:43.748Z,1751053003.748 [DAT](INFO): DAT read: TxSync time:19:36:42.3656

2025-06-27T19:36:43.808Z,1751053003.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 447.299988 m,
      deltaT: 4.032044 s,
      deltaX: -2.900024 m,
      approachRate: -0.719244 m/s,
      rangeRepo size: 4

2025-06-27T19:36:43.810Z,1751053003.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 443.270294 m,
      bearing: 248.245787 deg,
      lat: 36.906468 deg,
      lon: -122.116395 deg,
      deltaT: 4.032044 s,
      deltaX: -2.875122 m,
      approachRate: -0.713068 m/s,
      posRepo size: 4

2025-06-27T19:36:43.815Z,1751053003.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:43.817Z,1751053003.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 439.210968 m,
      bearing: 248.488454 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002305 deg/s,
      cmd heading: 247.073924 deg,
      new cmd heading: 247.070272 deg.

2025-06-27T19:36:43.822Z,1751053003.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312190 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:44.129Z,1751053004.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:44.136Z,1751053004.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 438.954651 m,
      bearing: 248.487568 deg,
      approach rate: -0.794942 m/s,
      LOS rate: -0.002747 deg/s,
      cmd heading: 247.070263 deg,
      new cmd heading: 247.067606 deg.

2025-06-27T19:36:44.137Z,1751053004.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312143 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:44.532Z,1751053004.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:44.535Z,1751053004.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 438.646545 m,
      bearing: 248.486550 deg,
      approach rate: -0.765213 m/s,
      LOS rate: -0.002532 deg/s,
      cmd heading: 247.067613 deg,
      new cmd heading: 247.064555 deg.

2025-06-27T19:36:44.536Z,1751053004.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312090 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:44.941Z,1751053004.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:44.943Z,1751053004.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:44.946Z,1751053004.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 438.331635 m,
      bearing: 248.485814 deg,
      approach rate: -0.767125 m/s,
      LOS rate: -0.001793 deg/s,
      cmd heading: 247.064553 deg,
      new cmd heading: 247.062345 deg.

2025-06-27T19:36:44.947Z,1751053004.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312051 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:45.009Z,1751053005.009 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:45.009Z,1751053005.009 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:45.010Z,1751053005.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:45.259Z,1751053005.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742531
2025-06-27T19:36:45.399Z,1751053005.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:45.401Z,1751053005.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 437.983490 m,
      bearing: 248.485004 deg,
      approach rate: -0.763574 m/s,
      LOS rate: -0.001778 deg/s,
      cmd heading: 247.062340 deg,
      new cmd heading: 247.059908 deg.

2025-06-27T19:36:45.403Z,1751053005.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312009 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:45.511Z,1751053005.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994600
2025-06-27T19:36:45.763Z,1751053005.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246639
2025-06-27T19:36:45.796Z,1751053005.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:45.803Z,1751053005.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 437.675659 m,
      bearing: 248.484038 deg,
      approach rate: -0.774254 m/s,
      LOS rate: -0.002431 deg/s,
      cmd heading: 247.059909 deg,
      new cmd heading: 247.057009 deg.

2025-06-27T19:36:45.811Z,1751053005.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311958 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:46.016Z,1751053006.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499501
2025-06-27T19:36:46.172Z,1751053006.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:46.179Z,1751053006.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 437.387115 m,
      bearing: 248.483148 deg,
      approach rate: -0.768206 m/s,
      LOS rate: -0.002372 deg/s,
      cmd heading: 247.057013 deg,
      new cmd heading: 247.054340 deg.

2025-06-27T19:36:46.180Z,1751053006.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311912 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:46.272Z,1751053006.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755394
2025-06-27T19:36:46.523Z,1751053006.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006607
2025-06-27T19:36:46.564Z,1751053006.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:46.566Z,1751053006.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 437.067291 m,
      bearing: 248.482188 deg,
      approach rate: -0.816440 m/s,
      LOS rate: -0.002451 deg/s,
      cmd heading: 247.054335 deg,
      new cmd heading: 247.051455 deg.

2025-06-27T19:36:46.567Z,1751053006.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311862 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:46.775Z,1751053006.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258641
2025-06-27T19:36:47.007Z,1751053007.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:47.011Z,1751053007.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:47.016Z,1751053007.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 436.722900 m,
      bearing: 248.480898 deg,
      approach rate: -0.770565 m/s,
      LOS rate: -0.002889 deg/s,
      cmd heading: 247.051467 deg,
      new cmd heading: 247.047593 deg.

2025-06-27T19:36:47.017Z,1751053007.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311794 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:47.027Z,1751053007.027 [DAT](INFO): DAT read: .3626

2025-06-27T19:36:47.027Z,1751053007.027 [DAT](INFO): unknown deviceResponse_: .3626

2025-06-27T19:36:47.028Z,1751053007.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511251
2025-06-27T19:36:47.280Z,1751053007.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762942
2025-06-27T19:36:47.343Z,1751053007.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:47.345Z,1751053007.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 436.457031 m,
      bearing: 248.479918 deg,
      approach rate: -0.801018 m/s,
      LOS rate: -0.002955 deg/s,
      cmd heading: 247.047587 deg,
      new cmd heading: 247.044644 deg.

2025-06-27T19:36:47.346Z,1751053007.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311742 target range: 443.270294 and range: 447.30 m.
2025-06-27T19:36:47.532Z,1751053007.532 [DAT](INFO): DAT read: Range 10 to 50 : 444.0 m  (Round-trip  592.1 ms) speed  0.5 m/s

2025-06-27T19:36:47.533Z,1751053007.533 [DAT](INFO): DAT read: user:2601>

2025-06-27T19:36:47.534Z,1751053007.534 [DAT](INFO): DAT read: Tx time:19:36:46.4665

2025-06-27T19:36:47.535Z,1751053007.535 [DAT](INFO): Ping request sent.
2025-06-27T19:36:47.535Z,1751053007.535 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:47.535Z,1751053007.535 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:36:47.536Z,1751053007.536 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:47.536Z,1751053007.536 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:47.784Z,1751053007.784 [DAT](INFO): DAT read: TxSync time:19:36:46.4657

2025-06-27T19:36:47.825Z,1751053007.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 444.000000 m,
      deltaT: 4.035905 s,
      deltaX: -3.299988 m,
      approachRate: -0.817657 m/s,
      rangeRepo size: 4

2025-06-27T19:36:47.827Z,1751053007.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:47.830Z,1751053007.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 436.101410 m,
      bearing: 248.478832 deg,
      approach rate: -0.737719 m/s,
      LOS rate: -0.002255 deg/s,
      cmd heading: 247.044636 deg,
      new cmd heading: 247.041375 deg.

2025-06-27T19:36:47.831Z,1751053007.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311686 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:48.155Z,1751053008.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:48.157Z,1751053008.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 435.825684 m,
      bearing: 248.478027 deg,
      approach rate: -0.835512 m/s,
      LOS rate: -0.002438 deg/s,
      cmd heading: 247.041385 deg,
      new cmd heading: 247.038972 deg.

2025-06-27T19:36:48.158Z,1751053008.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311644 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:48.586Z,1751053008.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:48.596Z,1751053008.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 435.508728 m,
      bearing: 248.477247 deg,
      approach rate: -0.742210 m/s,
      LOS rate: -0.001830 deg/s,
      cmd heading: 247.038981 deg,
      new cmd heading: 247.036637 deg.

2025-06-27T19:36:48.597Z,1751053008.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311603 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:49.068Z,1751053009.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:49.070Z,1751053009.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:49.073Z,1751053009.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 435.125458 m,
      bearing: 248.475887 deg,
      approach rate: -0.784645 m/s,
      LOS rate: -0.002786 deg/s,
      cmd heading: 247.036631 deg,
      new cmd heading: 247.032549 deg.

2025-06-27T19:36:49.074Z,1751053009.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311532 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:49.295Z,1751053009.295 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:49.295Z,1751053009.295 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:49.295Z,1751053009.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:49.415Z,1751053009.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:49.417Z,1751053009.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 434.864105 m,
      bearing: 248.474943 deg,
      approach rate: -0.758452 m/s,
      LOS rate: -0.002742 deg/s,
      cmd heading: 247.032561 deg,
      new cmd heading: 247.029727 deg.

2025-06-27T19:36:49.434Z,1751053009.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311482 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:49.548Z,1751053009.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012528
2025-06-27T19:36:49.799Z,1751053009.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264273
2025-06-27T19:36:49.885Z,1751053009.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:49.888Z,1751053009.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 434.520355 m,
      bearing: 248.473016 deg,
      approach rate: -0.730783 m/s,
      LOS rate: -0.004100 deg/s,
      cmd heading: 247.029719 deg,
      new cmd heading: 247.023933 deg.

2025-06-27T19:36:49.889Z,1751053009.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311381 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:50.051Z,1751053010.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516220
2025-06-27T19:36:50.251Z,1751053010.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:50.254Z,1751053010.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 434.252075 m,
      bearing: 248.471464 deg,
      approach rate: -0.732247 m/s,
      LOS rate: -0.004237 deg/s,
      cmd heading: 247.023927 deg,
      new cmd heading: 247.019271 deg.

2025-06-27T19:36:50.255Z,1751053010.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311300 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:50.304Z,1751053010.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769163
2025-06-27T19:36:50.555Z,1751053010.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020156
2025-06-27T19:36:50.647Z,1751053010.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:50.649Z,1751053010.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 433.962128 m,
      bearing: 248.469738 deg,
      approach rate: -0.733561 m/s,
      LOS rate: -0.004372 deg/s,
      cmd heading: 247.019283 deg,
      new cmd heading: 247.014099 deg.

2025-06-27T19:36:50.651Z,1751053010.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311209 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:50.807Z,1751053010.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272328
2025-06-27T19:36:51.060Z,1751053011.060 [DAT](INFO): DAT read: Rx Time:19:36:49.4472

2025-06-27T19:36:51.060Z,1751053011.060 [DAT](INFO): Rx dataTimestamp_ set to:1751053011.059704
2025-06-27T19:36:51.061Z,1751053011.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525435
2025-06-27T19:36:51.124Z,1751053011.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:51.131Z,1751053011.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:51.134Z,1751053011.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 433.633209 m,
      bearing: 248.468584 deg,
      approach rate: -0.685482 m/s,
      LOS rate: -0.002406 deg/s,
      cmd heading: 247.014092 deg,
      new cmd heading: 247.010628 deg.

2025-06-27T19:36:51.135Z,1751053011.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311149 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:51.311Z,1751053011.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776159
2025-06-27T19:36:51.456Z,1751053011.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 443.27 m.
2025-06-27T19:36:51.459Z,1751053011.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 443.270294 m,
      nav range: 433.372314 m,
      bearing: 248.467636 deg,
      approach rate: -0.792259 m/s,
      LOS rate: -0.002881 deg/s,
      cmd heading: 247.010622 deg,
      new cmd heading: 247.007776 deg.

2025-06-27T19:36:51.460Z,1751053011.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311099 target range: 443.270294 and range: 444.00 m.
2025-06-27T19:36:51.583Z,1751053011.583 [DAT](INFO): DAT read: 19:36:49.4472 LVL= 20704, 24689, 22386, 32755, AGC= 72, IDX= 412, 0.48,-1.320,-2.656,-1.377,-1.925, PHS= 0.693,-0.684, 0.545, RAW= 144.4,  -8.5, CAL= 150.8, -17.5, ROT= 359.2,  17.5

2025-06-27T19:36:51.587Z,1751053011.587 [DAT](INFO): got valid direction response:
 19:36:49.4472 LVL= 20704, 24689, 22386, 32755, AGC= 72, IDX= 412, 0.48,-1.320,-2.656,-1.377,-1.925, PHS= 0.693,-0.684, 0.545, RAW= 144.4,  -8.5, CAL= 150.8, -17.5, ROT= 359.2,  17.5

2025-06-27T19:36:51.588Z,1751053011.588 [DAT](INFO): DAT read: Bearing 359.2,  17.5 (Local)

2025-06-27T19:36:51.588Z,1751053011.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  17.5 (Local)

2025-06-27T19:36:51.590Z,1751053011.590 [DAT](INFO): DAT read: Range 10 to 50 : 432.4 m  (Round-trip  576.6 ms) speed  0.4 m/s

2025-06-27T19:36:51.591Z,1751053011.591 [DAT](INFO): DAT read: user:2602>

2025-06-27T19:36:51.592Z,1751053011.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:36:51.600Z,1751053011.600 [DAT](INFO): direction in FSK: [0.953624,-0.013316,-0.300706]
2025-06-27T19:36:51.601Z,1751053011.601 [DAT](INFO): publishing direction and range info
2025-06-27T19:36:51.605Z,1751053011.605 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:36:51.605Z,1751053011.605 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:36:51.605Z,1751053011.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:36:51.815Z,1751053011.815 [DAT](INFO): DAT read: Tx time:19:36:50.5665

2025-06-27T19:36:51.816Z,1751053011.816 [DAT](INFO): Ping request sent.
2025-06-27T19:36:51.816Z,1751053011.816 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:36:51.817Z,1751053011.817 [DAT](INFO): DAT read: TxSync time:19:36:50.5657

2025-06-27T19:36:51.817Z,1751053011.817 [DAT](INFO): publishing transmit ping time
2025-06-27T19:36:51.818Z,1751053011.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001611
2025-06-27T19:36:51.892Z,1751053011.892 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       -0.15,        +7.78 20.0
2025-06-27T19:36:51.912Z,1751053011.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 432.399994 m,
      deltaT: 4.033627 s,
      deltaX: -11.600006 m,
      approachRate: -2.875825 m/s,
      rangeRepo size: 4

2025-06-27T19:36:51.914Z,1751053011.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 428.495911 m,
      bearing: 247.233916 deg,
      lat: 36.906468 deg,
      lon: -122.116338 deg,
      deltaT: 8.069532 s,
      deltaX: -14.774384 m,
      approachRate: -1.830885 m/s,
      posRepo size: 4

2025-06-27T19:36:51.915Z,1751053011.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:51.918Z,1751053011.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 428.408264 m,
      bearing: 248.221611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002881 deg/s,
      cmd heading: 247.007781 deg,
      new cmd heading: 247.003841 deg.

2025-06-27T19:36:51.919Z,1751053011.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311030 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:52.068Z,1751053012.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252191
2025-06-27T19:36:52.262Z,1751053012.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:52.265Z,1751053012.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 428.149689 m,
      bearing: 248.220481 deg,
      approach rate: -0.737258 m/s,
      LOS rate: -0.003226 deg/s,
      cmd heading: 247.003847 deg,
      new cmd heading: 247.000452 deg.

2025-06-27T19:36:52.266Z,1751053012.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310971 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:52.319Z,1751053012.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503499
2025-06-27T19:36:52.571Z,1751053012.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755403
2025-06-27T19:36:52.669Z,1751053012.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:52.671Z,1751053012.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 427.853302 m,
      bearing: 248.219220 deg,
      approach rate: -0.729232 m/s,
      LOS rate: -0.003104 deg/s,
      cmd heading: 247.000459 deg,
      new cmd heading: 246.996674 deg.

2025-06-27T19:36:52.672Z,1751053012.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310905 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:52.823Z,1751053012.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007418
2025-06-27T19:36:53.079Z,1751053013.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262654
2025-06-27T19:36:53.132Z,1751053013.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:53.138Z,1751053013.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:53.141Z,1751053013.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 427.535095 m,
      bearing: 248.217392 deg,
      approach rate: -0.683563 m/s,
      LOS rate: -0.003929 deg/s,
      cmd heading: 246.996661 deg,
      new cmd heading: 246.991174 deg.

2025-06-27T19:36:53.142Z,1751053013.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310809 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:53.331Z,1751053013.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515417
2025-06-27T19:36:53.516Z,1751053013.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:53.519Z,1751053013.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 427.258118 m,
      bearing: 248.215767 deg,
      approach rate: -0.725002 m/s,
      LOS rate: -0.004256 deg/s,
      cmd heading: 246.991170 deg,
      new cmd heading: 246.986292 deg.

2025-06-27T19:36:53.520Z,1751053013.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310724 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:53.584Z,1751053013.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767643
2025-06-27T19:36:53.836Z,1751053013.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019581
2025-06-27T19:36:53.913Z,1751053013.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:53.932Z,1751053013.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 426.977203 m,
      bearing: 248.214593 deg,
      approach rate: -0.708131 m/s,
      LOS rate: -0.002963 deg/s,
      cmd heading: 246.986279 deg,
      new cmd heading: 246.982753 deg.

2025-06-27T19:36:53.933Z,1751053013.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310662 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:54.087Z,1751053014.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271355
2025-06-27T19:36:54.286Z,1751053014.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:54.288Z,1751053014.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 426.713440 m,
      bearing: 248.213427 deg,
      approach rate: -0.707653 m/s,
      LOS rate: -0.003130 deg/s,
      cmd heading: 246.982755 deg,
      new cmd heading: 246.979255 deg.

2025-06-27T19:36:54.289Z,1751053014.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310601 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:54.340Z,1751053014.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524080
2025-06-27T19:36:54.591Z,1751053014.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775323
2025-06-27T19:36:54.687Z,1751053014.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:54.690Z,1751053014.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 426.429016 m,
      bearing: 248.212101 deg,
      approach rate: -0.708179 m/s,
      LOS rate: -0.003302 deg/s,
      cmd heading: 246.979258 deg,
      new cmd heading: 246.975279 deg.

2025-06-27T19:36:54.691Z,1751053014.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310532 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:54.843Z,1751053014.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027433
2025-06-27T19:36:55.095Z,1751053015.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279269
2025-06-27T19:36:55.136Z,1751053015.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:55.139Z,1751053015.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:55.141Z,1751053015.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 426.100128 m,
      bearing: 248.210803 deg,
      approach rate: -0.728976 m/s,
      LOS rate: -0.002880 deg/s,
      cmd heading: 246.975269 deg,
      new cmd heading: 246.971371 deg.

2025-06-27T19:36:55.142Z,1751053015.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310463 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:55.348Z,1751053015.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531725
2025-06-27T19:36:55.523Z,1751053015.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:55.525Z,1751053015.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 425.834381 m,
      bearing: 248.209662 deg,
      approach rate: -0.692003 m/s,
      LOS rate: -0.002974 deg/s,
      cmd heading: 246.971362 deg,
      new cmd heading: 246.967936 deg.

2025-06-27T19:36:55.530Z,1751053015.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310404 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:55.600Z,1751053015.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784267
2025-06-27T19:36:55.852Z,1751053015.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036070
2025-06-27T19:36:55.936Z,1751053015.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:55.939Z,1751053015.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 425.520416 m,
      bearing: 248.207891 deg,
      approach rate: -0.758871 m/s,
      LOS rate: -0.004283 deg/s,
      cmd heading: 246.967947 deg,
      new cmd heading: 246.962631 deg.

2025-06-27T19:36:55.940Z,1751053015.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310311 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:56.103Z,1751053016.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287348
2025-06-27T19:36:56.314Z,1751053016.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:56.317Z,1751053016.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 425.255096 m,
      bearing: 248.206370 deg,
      approach rate: -0.702365 m/s,
      LOS rate: -0.004027 deg/s,
      cmd heading: 246.962620 deg,
      new cmd heading: 246.958056 deg.

2025-06-27T19:36:56.318Z,1751053016.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310231 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:56.356Z,1751053016.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.540059
2025-06-27T19:36:56.607Z,1751053016.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791326
2025-06-27T19:36:56.709Z,1751053016.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:56.712Z,1751053016.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 424.961151 m,
      bearing: 248.204667 deg,
      approach rate: -0.744124 m/s,
      LOS rate: -0.004315 deg/s,
      cmd heading: 246.958057 deg,
      new cmd heading: 246.952943 deg.

2025-06-27T19:36:56.713Z,1751053016.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310142 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:56.863Z,1751053016.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046540
2025-06-27T19:36:57.111Z,1751053017.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295480
2025-06-27T19:36:57.124Z,1751053017.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:57.127Z,1751053017.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 424.660828 m,
      bearing: 248.202916 deg,
      approach rate: -0.723485 m/s,
      LOS rate: -0.004221 deg/s,
      cmd heading: 246.952948 deg,
      new cmd heading: 246.947692 deg.

2025-06-27T19:36:57.128Z,1751053017.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310050 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:57.363Z,1751053017.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547309
2025-06-27T19:36:57.537Z,1751053017.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:57.543Z,1751053017.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:57.546Z,1751053017.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 424.372589 m,
      bearing: 248.201237 deg,
      approach rate: -0.687658 m/s,
      LOS rate: -0.004010 deg/s,
      cmd heading: 246.947702 deg,
      new cmd heading: 246.942660 deg.

2025-06-27T19:36:57.551Z,1751053017.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309962 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:57.616Z,1751053017.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799872
2025-06-27T19:36:57.873Z,1751053017.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053939
2025-06-27T19:36:57.961Z,1751053017.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:57.964Z,1751053017.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 424.041962 m,
      bearing: 248.199796 deg,
      approach rate: -0.792231 m/s,
      LOS rate: -0.003455 deg/s,
      cmd heading: 246.942648 deg,
      new cmd heading: 246.938323 deg.

2025-06-27T19:36:57.964Z,1751053017.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309887 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:58.119Z,1751053018.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303435
2025-06-27T19:36:58.368Z,1751053018.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:58.379Z,1751053018.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.563502
2025-06-27T19:36:58.391Z,1751053018.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 423.734009 m,
      bearing: 248.198451 deg,
      approach rate: -0.754864 m/s,
      LOS rate: -0.003298 deg/s,
      cmd heading: 246.938331 deg,
      new cmd heading: 246.934295 deg.

2025-06-27T19:36:58.392Z,1751053018.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309816 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:58.633Z,1751053018.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.816473
2025-06-27T19:36:58.883Z,1751053018.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.067453
2025-06-27T19:36:58.920Z,1751053018.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:58.943Z,1751053018.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 423.314880 m,
      bearing: 248.196725 deg,
      approach rate: -0.760357 m/s,
      LOS rate: -0.003136 deg/s,
      cmd heading: 246.934288 deg,
      new cmd heading: 246.929103 deg.

2025-06-27T19:36:58.944Z,1751053018.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309726 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:59.135Z,1751053019.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319418
2025-06-27T19:36:59.357Z,1751053019.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:59.376Z,1751053019.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 422.982025 m,
      bearing: 248.195385 deg,
      approach rate: -0.760569 m/s,
      LOS rate: -0.003063 deg/s,
      cmd heading: 246.929097 deg,
      new cmd heading: 246.925075 deg.

2025-06-27T19:36:59.377Z,1751053019.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309656 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:59.388Z,1751053019.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571541
2025-06-27T19:36:59.639Z,1751053019.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823301
2025-06-27T19:36:59.770Z,1751053019.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:36:59.772Z,1751053019.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:36:59.775Z,1751053019.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 422.666656 m,
      bearing: 248.194135 deg,
      approach rate: -0.759981 m/s,
      LOS rate: -0.003015 deg/s,
      cmd heading: 246.925081 deg,
      new cmd heading: 246.921327 deg.

2025-06-27T19:36:59.776Z,1751053019.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309590 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:36:59.894Z,1751053019.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.077449
2025-06-27T19:37:00.143Z,1751053020.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327434
2025-06-27T19:37:00.204Z,1751053020.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:00.206Z,1751053020.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 422.343842 m,
      bearing: 248.192909 deg,
      approach rate: -0.748588 m/s,
      LOS rate: -0.002844 deg/s,
      cmd heading: 246.921338 deg,
      new cmd heading: 246.917659 deg.

2025-06-27T19:37:00.207Z,1751053020.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309526 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:00.395Z,1751053020.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579403
2025-06-27T19:37:00.575Z,1751053020.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:00.577Z,1751053020.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 422.077057 m,
      bearing: 248.191919 deg,
      approach rate: -0.727098 m/s,
      LOS rate: -0.002702 deg/s,
      cmd heading: 246.917650 deg,
      new cmd heading: 246.914675 deg.

2025-06-27T19:37:00.582Z,1751053020.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309474 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:00.649Z,1751053020.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832515
2025-06-27T19:37:00.902Z,1751053020.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.085217
2025-06-27T19:37:01.032Z,1751053021.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:01.035Z,1751053021.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 421.719269 m,
      bearing: 248.190207 deg,
      approach rate: -0.775185 m/s,
      LOS rate: -0.003711 deg/s,
      cmd heading: 246.914672 deg,
      new cmd heading: 246.909533 deg.

2025-06-27T19:37:01.036Z,1751053021.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309384 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:01.152Z,1751053021.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335853
2025-06-27T19:37:01.375Z,1751053021.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:01.378Z,1751053021.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 421.451172 m,
      bearing: 248.188949 deg,
      approach rate: -0.781982 m/s,
      LOS rate: -0.003672 deg/s,
      cmd heading: 246.909535 deg,
      new cmd heading: 246.905759 deg.

2025-06-27T19:37:01.391Z,1751053021.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309319 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:01.403Z,1751053021.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587504
2025-06-27T19:37:01.655Z,1751053021.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839410
2025-06-27T19:37:01.795Z,1751053021.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:01.797Z,1751053021.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:01.816Z,1751053021.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 421.127838 m,
      bearing: 248.187447 deg,
      approach rate: -0.766194 m/s,
      LOS rate: -0.003562 deg/s,
      cmd heading: 246.905765 deg,
      new cmd heading: 246.901255 deg.

2025-06-27T19:37:01.817Z,1751053021.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309240 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:01.909Z,1751053021.909 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:01.911Z,1751053021.911 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:01.911Z,1751053021.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:02.159Z,1751053022.159 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:02.159Z,1751053022.159 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:02.160Z,1751053022.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:02.217Z,1751053022.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:02.224Z,1751053022.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 420.819366 m,
      bearing: 248.186229 deg,
      approach rate: -0.734227 m/s,
      LOS rate: -0.002900 deg/s,
      cmd heading: 246.901257 deg,
      new cmd heading: 246.897601 deg.

2025-06-27T19:37:02.225Z,1751053022.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309176 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:02.411Z,1751053022.411 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:02.411Z,1751053022.411 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:02.412Z,1751053022.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:02.604Z,1751053022.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:02.607Z,1751053022.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 420.505157 m,
      bearing: 248.184999 deg,
      approach rate: -0.810868 m/s,
      LOS rate: -0.003177 deg/s,
      cmd heading: 246.897596 deg,
      new cmd heading: 246.893902 deg.

2025-06-27T19:37:02.608Z,1751053022.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309112 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:02.664Z,1751053022.664 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:37:02.664Z,1751053022.664 [DAT](INFO): response not received
2025-06-27T19:37:02.664Z,1751053022.664 [DAT](INFO): DAT read: user:2603>

2025-06-27T19:37:02.665Z,1751053022.665 [DAT](INFO): DAT read: Tx time:19:37:01.5166

2025-06-27T19:37:02.665Z,1751053022.665 [DAT](INFO): Ping request sent.
2025-06-27T19:37:02.665Z,1751053022.665 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:02.666Z,1751053022.666 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:02.666Z,1751053022.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-06-27T19:37:02.918Z,1751053022.918 [DAT](INFO): DAT read: TxSync time:19:37:01.5158

2025-06-27T19:37:02.921Z,1751053022.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254835
2025-06-27T19:37:03.030Z,1751053023.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:03.033Z,1751053023.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 420.189728 m,
      bearing: 248.183206 deg,
      approach rate: -0.741369 m/s,
      LOS rate: -0.004217 deg/s,
      cmd heading: 246.893908 deg,
      new cmd heading: 246.888526 deg.

2025-06-27T19:37:03.034Z,1751053023.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309018 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:03.168Z,1751053023.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502398
2025-06-27T19:37:03.393Z,1751053023.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:03.396Z,1751053023.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 419.916779 m,
      bearing: 248.181708 deg,
      approach rate: -0.751175 m/s,
      LOS rate: -0.004125 deg/s,
      cmd heading: 246.888526 deg,
      new cmd heading: 246.884029 deg.

2025-06-27T19:37:03.397Z,1751053023.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308939 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:03.419Z,1751053023.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753914
2025-06-27T19:37:03.671Z,1751053023.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005865
2025-06-27T19:37:03.791Z,1751053023.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:03.793Z,1751053023.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 419.620605 m,
      bearing: 248.180071 deg,
      approach rate: -0.745808 m/s,
      LOS rate: -0.004127 deg/s,
      cmd heading: 246.884018 deg,
      new cmd heading: 246.879101 deg.

2025-06-27T19:37:03.794Z,1751053023.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308853 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:03.926Z,1751053023.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260090
2025-06-27T19:37:04.175Z,1751053024.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509818
2025-06-27T19:37:04.220Z,1751053024.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:04.223Z,1751053024.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:04.225Z,1751053024.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 419.300018 m,
      bearing: 248.178271 deg,
      approach rate: -0.742291 m/s,
      LOS rate: -0.004170 deg/s,
      cmd heading: 246.879100 deg,
      new cmd heading: 246.873698 deg.

2025-06-27T19:37:04.226Z,1751053024.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308759 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:04.427Z,1751053024.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761820
2025-06-27T19:37:04.615Z,1751053024.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:04.617Z,1751053024.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 419.008209 m,
      bearing: 248.176626 deg,
      approach rate: -0.743912 m/s,
      LOS rate: -0.004196 deg/s,
      cmd heading: 246.873690 deg,
      new cmd heading: 246.868753 deg.

2025-06-27T19:37:04.619Z,1751053024.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308672 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:04.680Z,1751053024.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014485
2025-06-27T19:37:04.934Z,1751053024.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268068
2025-06-27T19:37:05.045Z,1751053025.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:05.048Z,1751053025.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 418.693512 m,
      bearing: 248.175210 deg,
      approach rate: -0.731244 m/s,
      LOS rate: -0.003293 deg/s,
      cmd heading: 246.868745 deg,
      new cmd heading: 246.864494 deg.

2025-06-27T19:37:05.049Z,1751053025.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308598 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:05.183Z,1751053025.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518024
2025-06-27T19:37:05.415Z,1751053025.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:05.418Z,1751053025.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 418.422516 m,
      bearing: 248.174003 deg,
      approach rate: -0.731959 m/s,
      LOS rate: -0.003265 deg/s,
      cmd heading: 246.864483 deg,
      new cmd heading: 246.860857 deg.

2025-06-27T19:37:05.419Z,1751053025.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308535 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:05.437Z,1751053025.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771788
2025-06-27T19:37:05.687Z,1751053025.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021994
2025-06-27T19:37:05.811Z,1751053025.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:05.813Z,1751053025.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 418.133362 m,
      bearing: 248.172726 deg,
      approach rate: -0.731654 m/s,
      LOS rate: -0.003233 deg/s,
      cmd heading: 246.860850 deg,
      new cmd heading: 246.857016 deg.

2025-06-27T19:37:05.815Z,1751053025.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308468 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:05.943Z,1751053025.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277054
2025-06-27T19:37:06.191Z,1751053026.191 [DAT](INFO): DAT read: Rx Time:19:37:04.4824

2025-06-27T19:37:06.192Z,1751053026.192 [DAT](INFO): Rx dataTimestamp_ set to:1751053026.191569
2025-06-27T19:37:06.192Z,1751053026.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526951
2025-06-27T19:37:06.252Z,1751053026.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:06.254Z,1751053026.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:06.269Z,1751053026.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 417.808258 m,
      bearing: 248.170844 deg,
      approach rate: -0.732859 m/s,
      LOS rate: -0.004244 deg/s,
      cmd heading: 246.857025 deg,
      new cmd heading: 246.851377 deg.

2025-06-27T19:37:06.270Z,1751053026.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308369 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:06.443Z,1751053026.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777878
2025-06-27T19:37:06.657Z,1751053026.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 428.50 m.
2025-06-27T19:37:06.660Z,1751053026.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 428.495911 m,
      nav range: 417.512177 m,
      bearing: 248.169112 deg,
      approach rate: -0.734564 m/s,
      LOS rate: -0.004301 deg/s,
      cmd heading: 246.851369 deg,
      new cmd heading: 246.846169 deg.

2025-06-27T19:37:06.661Z,1751053026.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308279 target range: 428.495911 and range: 432.40 m.
2025-06-27T19:37:06.702Z,1751053026.702 [DAT](INFO): DAT read: 19:37:04.4824 LVL= 25968, 28193, 23474, 31219, AGC= 69, IDX= 260, 0.05, 2.458, 1.067, 2.107, 1.953, PHS= 0.593,-0.839, 0.151, RAW= 132.4,   1.5, CAL= 138.1,  -6.6, ROT=  11.9,   6.6

2025-06-27T19:37:06.703Z,1751053026.703 [DAT](INFO): got valid direction response:
 19:37:04.4824 LVL= 25968, 28193, 23474, 31219, AGC= 69, IDX= 260, 0.05, 2.458, 1.067, 2.107, 1.953, PHS= 0.593,-0.839, 0.151, RAW= 132.4,   1.5, CAL= 138.1,  -6.6, ROT=  11.9,   6.6

2025-06-27T19:37:06.704Z,1751053026.704 [DAT](INFO): DAT read: Bearing  11.9,   6.6 (Local)

2025-06-27T19:37:06.704Z,1751053026.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9,   6.6 (Local)

2025-06-27T19:37:06.706Z,1751053026.706 [DAT](INFO): DAT read: Range 10 to 50 : 421.2 m  (Round-trip  561.7 ms) speed  0.4 m/s

2025-06-27T19:37:06.707Z,1751053026.707 [DAT](INFO): DAT read: user:2604>

2025-06-27T19:37:06.708Z,1751053026.708 [DAT](INFO): DAT read: Tx time:19:37:05.5666

2025-06-27T19:37:06.708Z,1751053026.708 [DAT](INFO): Ping request sent.
2025-06-27T19:37:06.708Z,1751053026.708 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:06.708Z,1751053026.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:06.709Z,1751053026.709 [DAT](INFO): direction in FSK: [0.972024,0.204838,-0.114937]
2025-06-27T19:37:06.709Z,1751053026.709 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:06.710Z,1751053026.710 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:06.713Z,1751053026.713 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:06.713Z,1751053026.713 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:06.951Z,1751053026.951 [DAT](INFO): DAT read: TxSync time:19:37:05.5658

2025-06-27T19:37:07.181Z,1751053027.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 421.200012 m,
      deltaT: 15.130733 s,
      deltaX: -11.199982 m,
      approachRate: -0.740214 m/s,
      rangeRepo size: 4

2025-06-27T19:37:07.200Z,1751053027.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 417.396606 m,
      bearing: 259.302352 deg,
      lat: 36.906468 deg,
      lon: -122.116338 deg,
      deltaT: 15.130733 s,
      deltaX: -11.099304 m,
      approachRate: -0.733560 m/s,
      posRepo size: 4

2025-06-27T19:37:07.201Z,1751053027.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:07.208Z,1751053027.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 417.136261 m,
      bearing: 248.165942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004301 deg/s,
      cmd heading: 246.846178 deg,
      new cmd heading: 246.839432 deg.

2025-06-27T19:37:07.209Z,1751053027.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308161 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:07.506Z,1751053027.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:07.509Z,1751053027.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 416.895020 m,
      bearing: 248.163948 deg,
      approach rate: -0.740161 m/s,
      LOS rate: -0.006121 deg/s,
      cmd heading: 246.839430 deg,
      new cmd heading: 246.833445 deg.

2025-06-27T19:37:07.510Z,1751053027.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308056 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:07.924Z,1751053027.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:07.931Z,1751053027.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 416.602631 m,
      bearing: 248.161517 deg,
      approach rate: -0.699179 m/s,
      LOS rate: -0.005818 deg/s,
      cmd heading: 246.833447 deg,
      new cmd heading: 246.826148 deg.

2025-06-27T19:37:07.932Z,1751053027.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307929 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:08.341Z,1751053028.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:08.343Z,1751053028.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:08.346Z,1751053028.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 416.285126 m,
      bearing: 248.159477 deg,
      approach rate: -0.757470 m/s,
      LOS rate: -0.004869 deg/s,
      cmd heading: 246.826152 deg,
      new cmd heading: 246.820029 deg.

2025-06-27T19:37:08.367Z,1751053028.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307822 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:08.460Z,1751053028.460 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:08.460Z,1751053028.460 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:08.460Z,1751053028.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:08.711Z,1751053028.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003403
2025-06-27T19:37:08.738Z,1751053028.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:08.741Z,1751053028.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 415.996216 m,
      bearing: 248.157580 deg,
      approach rate: -0.732229 m/s,
      LOS rate: -0.004813 deg/s,
      cmd heading: 246.820033 deg,
      new cmd heading: 246.814336 deg.

2025-06-27T19:37:08.742Z,1751053028.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307723 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:08.967Z,1751053028.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257801
2025-06-27T19:37:09.177Z,1751053029.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:09.180Z,1751053029.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 415.669495 m,
      bearing: 248.155436 deg,
      approach rate: -0.743246 m/s,
      LOS rate: -0.004880 deg/s,
      cmd heading: 246.814322 deg,
      new cmd heading: 246.807887 deg.

2025-06-27T19:37:09.181Z,1751053029.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307610 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:09.216Z,1751053029.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508060
2025-06-27T19:37:09.467Z,1751053029.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759270
2025-06-27T19:37:09.525Z,1751053029.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:09.544Z,1751053029.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 415.410828 m,
      bearing: 248.153747 deg,
      approach rate: -0.744419 m/s,
      LOS rate: -0.004865 deg/s,
      cmd heading: 246.807875 deg,
      new cmd heading: 246.802803 deg.

2025-06-27T19:37:09.545Z,1751053029.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307521 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:09.623Z,1751053029.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:37:09.719Z,1751053029.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011308
2025-06-27T19:37:09.934Z,1751053029.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:09.937Z,1751053029.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 415.106445 m,
      bearing: 248.151763 deg,
      approach rate: -0.743573 m/s,
      LOS rate: -0.004849 deg/s,
      cmd heading: 246.802793 deg,
      new cmd heading: 246.796838 deg.

2025-06-27T19:37:09.938Z,1751053029.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307417 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:09.972Z,1751053029.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263939
2025-06-27T19:37:10.223Z,1751053030.223 [DAT](INFO): DAT read: Rx Time:19:37:08.5533

2025-06-27T19:37:10.224Z,1751053030.224 [DAT](INFO): Rx dataTimestamp_ set to:1751053030.223551
2025-06-27T19:37:10.224Z,1751053030.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516370
2025-06-27T19:37:10.379Z,1751053030.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:10.381Z,1751053030.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.40 m.
2025-06-27T19:37:10.390Z,1751053030.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.396606 m,
      nav range: 414.777008 m,
      bearing: 248.150158 deg,
      approach rate: -0.737301 m/s,
      LOS rate: -0.003596 deg/s,
      cmd heading: 246.796837 deg,
      new cmd heading: 246.792017 deg.

2025-06-27T19:37:10.399Z,1751053030.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307333 target range: 417.396606 and range: 421.20 m.
2025-06-27T19:37:10.476Z,1751053030.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767726
2025-06-27T19:37:10.627Z,1751053030.627 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:37:10.733Z,1751053030.733 [DAT](INFO): DAT read: 19:37:08.5533 LVL= 18704, 23473, 18226, 27219, AGC= 72, IDX= 137, 0.05,-2.055, 2.961,-2.074,-2.646, PHS= 0.679,-0.629, 0.569, RAW= 145.6,  -9.9, CAL= 152.4, -18.6, ROT= 357.6,  18.6

2025-06-27T19:37:10.735Z,1751053030.735 [DAT](INFO): got valid direction response:
 19:37:08.5533 LVL= 18704, 23473, 18226, 27219, AGC= 72, IDX= 137, 0.05,-2.055, 2.961,-2.074,-2.646, PHS= 0.679,-0.629, 0.569, RAW= 145.6,  -9.9, CAL= 152.4, -18.6, ROT= 357.6,  18.6

2025-06-27T19:37:10.736Z,1751053030.736 [DAT](INFO): DAT read: Bearing 357.6,  18.6 (Local)

2025-06-27T19:37:10.736Z,1751053030.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  18.6 (Local)

2025-06-27T19:37:10.738Z,1751053030.738 [DAT](INFO): DAT read: Range 10 to 50 : 436.9 m  (Round-trip  582.6 ms) speed  0.4 m/s

2025-06-27T19:37:10.738Z,1751053030.738 [DAT](INFO): DAT read: user:2605>

2025-06-27T19:37:10.739Z,1751053030.739 [DAT](INFO): DAT read: Tx time:19:37:09.6666

2025-06-27T19:37:10.739Z,1751053030.739 [DAT](INFO): Ping request sent.
2025-06-27T19:37:10.740Z,1751053030.740 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:10.740Z,1751053030.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:10.741Z,1751053030.741 [DAT](INFO): direction in FSK: [0.946937,-0.039688,-0.318959]
2025-06-27T19:37:10.741Z,1751053030.741 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:10.741Z,1751053030.741 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:10.753Z,1751053030.753 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:10.753Z,1751053030.753 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:10.815Z,1751053030.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 436.899994 m,
      deltaT: 4.031868 s,
      deltaX: 15.699982 m,
      approachRate: 3.893972 m/s,
      rangeRepo size: 4

2025-06-27T19:37:10.817Z,1751053030.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 432.955383 m,
      bearing: 246.056038 deg,
      lat: 36.906459 deg,
      lon: -122.116279 deg,
      deltaT: 4.031868 s,
      deltaX: 15.558777 m,
      approachRate: 3.858950 m/s,
      posRepo size: 4

2025-06-27T19:37:10.822Z,1751053030.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:10.825Z,1751053030.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 409.948853 m,
      bearing: 247.738367 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003596 deg/s,
      cmd heading: 246.792029 deg,
      new cmd heading: 246.787439 deg.

2025-06-27T19:37:10.826Z,1751053030.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307253 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:10.980Z,1751053030.980 [DAT](INFO): DAT read: TxSync time:19:37:09.6658

2025-06-27T19:37:11.226Z,1751053031.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:11.229Z,1751053031.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 409.623993 m,
      bearing: 247.736868 deg,
      approach rate: -0.781405 m/s,
      LOS rate: -0.003606 deg/s,
      cmd heading: 246.787439 deg,
      new cmd heading: 246.782941 deg.

2025-06-27T19:37:11.234Z,1751053031.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307175 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:11.544Z,1751053031.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:11.547Z,1751053031.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 409.382782 m,
      bearing: 247.735794 deg,
      approach rate: -0.749510 m/s,
      LOS rate: -0.003339 deg/s,
      cmd heading: 246.782931 deg,
      new cmd heading: 246.779707 deg.

2025-06-27T19:37:11.548Z,1751053031.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307118 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:12.085Z,1751053032.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:12.093Z,1751053032.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 409.031494 m,
      bearing: 247.734231 deg,
      approach rate: -0.657308 m/s,
      LOS rate: -0.002928 deg/s,
      cmd heading: 246.779707 deg,
      new cmd heading: 246.775013 deg.

2025-06-27T19:37:12.094Z,1751053032.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307036 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:12.474Z,1751053032.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:12.476Z,1751053032.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:12.485Z,1751053032.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 408.703888 m,
      bearing: 247.732853 deg,
      approach rate: -0.823191 m/s,
      LOS rate: -0.003464 deg/s,
      cmd heading: 246.775008 deg,
      new cmd heading: 246.770872 deg.

2025-06-27T19:37:12.486Z,1751053032.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306964 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:12.491Z,1751053032.491 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:12.491Z,1751053032.491 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:12.492Z,1751053032.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:12.743Z,1751053032.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003844
2025-06-27T19:37:12.928Z,1751053032.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:12.931Z,1751053032.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 408.364441 m,
      bearing: 247.731387 deg,
      approach rate: -0.752231 m/s,
      LOS rate: -0.003252 deg/s,
      cmd heading: 246.770882 deg,
      new cmd heading: 246.766480 deg.

2025-06-27T19:37:12.932Z,1751053032.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306888 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:12.996Z,1751053032.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256769
2025-06-27T19:37:13.247Z,1751053033.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507729
2025-06-27T19:37:13.357Z,1751053033.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:13.368Z,1751053033.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 408.058350 m,
      bearing: 247.730244 deg,
      approach rate: -0.712679 m/s,
      LOS rate: -0.002663 deg/s,
      cmd heading: 246.766484 deg,
      new cmd heading: 246.763052 deg.

2025-06-27T19:37:13.369Z,1751053033.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306828 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:13.500Z,1751053033.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760856
2025-06-27T19:37:13.712Z,1751053033.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:13.715Z,1751053033.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 407.783173 m,
      bearing: 247.729215 deg,
      approach rate: -0.775940 m/s,
      LOS rate: -0.002903 deg/s,
      cmd heading: 246.763041 deg,
      new cmd heading: 246.759953 deg.

2025-06-27T19:37:13.716Z,1751053033.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306774 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:13.752Z,1751053033.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012165
2025-06-27T19:37:14.004Z,1751053034.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264293
2025-06-27T19:37:14.168Z,1751053034.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:14.171Z,1751053034.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 407.441406 m,
      bearing: 247.728082 deg,
      approach rate: -0.748888 m/s,
      LOS rate: -0.002484 deg/s,
      cmd heading: 246.759954 deg,
      new cmd heading: 246.756553 deg.

2025-06-27T19:37:14.172Z,1751053034.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306714 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:14.256Z,1751053034.256 [DAT](INFO): DAT read: Rx Time:19:37:12.6364

2025-06-27T19:37:14.257Z,1751053034.257 [DAT](INFO): Rx dataTimestamp_ set to:1751053034.256578
2025-06-27T19:37:14.258Z,1751053034.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518185
2025-06-27T19:37:14.509Z,1751053034.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769338
2025-06-27T19:37:14.529Z,1751053034.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:14.533Z,1751053034.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 432.96 m.
2025-06-27T19:37:14.537Z,1751053034.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 432.955383 m,
      nav range: 407.174316 m,
      bearing: 247.727204 deg,
      approach rate: -0.732664 m/s,
      LOS rate: -0.002411 deg/s,
      cmd heading: 246.756539 deg,
      new cmd heading: 246.753902 deg.

2025-06-27T19:37:14.539Z,1751053034.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306668 target range: 432.955383 and range: 436.90 m.
2025-06-27T19:37:14.778Z,1751053034.778 [DAT](INFO): DAT read: 19:37:12.6364 LVL= 24224, 32753, 28658, 32755, AGC= 73, IDX= 267, 0.29, 2.434, 0.835, 2.312, 1.712, PHS= 0.810,-0.830, 0.597, RAW= 143.1,  -7.5, CAL= 149.4, -16.7, ROT=   0.6,  16.7

2025-06-27T19:37:14.783Z,1751053034.783 [DAT](INFO): got valid direction response:
 19:37:12.6364 LVL= 24224, 32753, 28658, 32755, AGC= 73, IDX= 267, 0.29, 2.434, 0.835, 2.312, 1.712, PHS= 0.810,-0.830, 0.597, RAW= 143.1,  -7.5, CAL= 149.4, -16.7, ROT=   0.6,  16.7

2025-06-27T19:37:14.784Z,1751053034.784 [DAT](INFO): DAT read: Bearing   0.6,  16.7 (Local)

2025-06-27T19:37:14.785Z,1751053034.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  16.7 (Local)

2025-06-27T19:37:14.789Z,1751053034.789 [DAT](INFO): DAT read: Range 10 to 50 : 424.2 m  (Round-trip  565.6 ms) speed  0.4 m/s

2025-06-27T19:37:14.808Z,1751053034.808 [DAT](INFO): DAT read: user:2606>

2025-06-27T19:37:14.809Z,1751053034.809 [DAT](INFO): DAT read: Tx time:19:37:13.7166

2025-06-27T19:37:14.810Z,1751053034.810 [DAT](INFO): Ping request sent.
2025-06-27T19:37:14.810Z,1751053034.810 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:14.823Z,1751053034.823 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:14.824Z,1751053034.824 [DAT](INFO): direction in FSK: [0.957770,0.010030,-0.287361]
2025-06-27T19:37:14.824Z,1751053034.824 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:14.824Z,1751053034.824 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:14.835Z,1751053034.835 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:14.836Z,1751053034.836 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:14.961Z,1751053034.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 424.200012 m,
      deltaT: 4.033195 s,
      deltaX: -12.699982 m,
      approachRate: -3.148864 m/s,
      rangeRepo size: 4

2025-06-27T19:37:14.967Z,1751053034.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 420.371582 m,
      bearing: 248.783223 deg,
      lat: 36.906468 deg,
      lon: -122.116244 deg,
      deltaT: 4.033195 s,
      deltaX: -12.583801 m,
      approachRate: -3.120058 m/s,
      posRepo size: 4

2025-06-27T19:37:14.968Z,1751053034.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:14.979Z,1751053034.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 403.593842 m,
      bearing: 247.694452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002411 deg/s,
      cmd heading: 246.753889 deg,
      new cmd heading: 246.750799 deg.

2025-06-27T19:37:14.980Z,1751053034.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306614 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:15.013Z,1751053035.013 [DAT](INFO): DAT read: TxSync time:19:37:13.7159

2025-06-27T19:37:15.348Z,1751053035.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:15.351Z,1751053035.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 403.283447 m,
      bearing: 247.692505 deg,
      approach rate: -0.800260 m/s,
      LOS rate: -0.005023 deg/s,
      cmd heading: 246.750802 deg,
      new cmd heading: 246.744957 deg.

2025-06-27T19:37:15.352Z,1751053035.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306512 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:15.733Z,1751053035.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:15.736Z,1751053035.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 402.997314 m,
      bearing: 247.690750 deg,
      approach rate: -0.743592 m/s,
      LOS rate: -0.004566 deg/s,
      cmd heading: 246.744955 deg,
      new cmd heading: 246.739685 deg.

2025-06-27T19:37:15.737Z,1751053035.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306420 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:16.211Z,1751053036.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:16.213Z,1751053036.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 402.643280 m,
      bearing: 247.688928 deg,
      approach rate: -0.741104 m/s,
      LOS rate: -0.003818 deg/s,
      cmd heading: 246.739682 deg,
      new cmd heading: 246.734210 deg.

2025-06-27T19:37:16.214Z,1751053036.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306324 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:16.532Z,1751053036.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:16.534Z,1751053036.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:16.537Z,1751053036.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 402.395477 m,
      bearing: 247.687709 deg,
      approach rate: -0.766216 m/s,
      LOS rate: -0.003770 deg/s,
      cmd heading: 246.734218 deg,
      new cmd heading: 246.730560 deg.

2025-06-27T19:37:16.538Z,1751053036.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306261 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:16.777Z,1751053036.777 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:16.777Z,1751053036.777 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:16.778Z,1751053036.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:16.951Z,1751053036.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:16.953Z,1751053036.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 402.094025 m,
      bearing: 247.686254 deg,
      approach rate: -0.752540 m/s,
      LOS rate: -0.003635 deg/s,
      cmd heading: 246.730557 deg,
      new cmd heading: 246.726188 deg.

2025-06-27T19:37:16.958Z,1751053036.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306184 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:17.027Z,1751053037.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217448
2025-06-27T19:37:17.279Z,1751053037.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469218
2025-06-27T19:37:17.363Z,1751053037.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:17.366Z,1751053037.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 401.772095 m,
      bearing: 247.684542 deg,
      approach rate: -0.750992 m/s,
      LOS rate: -0.003996 deg/s,
      cmd heading: 246.726186 deg,
      new cmd heading: 246.721046 deg.

2025-06-27T19:37:17.367Z,1751053037.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306095 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:17.531Z,1751053037.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721317
2025-06-27T19:37:17.745Z,1751053037.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:17.748Z,1751053037.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 401.484894 m,
      bearing: 247.683016 deg,
      approach rate: -0.752605 m/s,
      LOS rate: -0.004002 deg/s,
      cmd heading: 246.721049 deg,
      new cmd heading: 246.716468 deg.

2025-06-27T19:37:17.749Z,1751053037.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306015 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:17.784Z,1751053037.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973584
2025-06-27T19:37:18.036Z,1751053038.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226187
2025-06-27T19:37:18.267Z,1751053038.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:18.270Z,1751053038.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 401.107391 m,
      bearing: 247.680732 deg,
      approach rate: -0.723913 m/s,
      LOS rate: -0.004383 deg/s,
      cmd heading: 246.716460 deg,
      new cmd heading: 246.709602 deg.

2025-06-27T19:37:18.271Z,1751053038.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305895 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:18.288Z,1751053038.288 [DAT](INFO): DAT read: Rx Time:19:37:16.6826

2025-06-27T19:37:18.288Z,1751053038.288 [DAT](INFO): Rx dataTimestamp_ set to:1751053038.287778
2025-06-27T19:37:18.289Z,1751053038.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478562
2025-06-27T19:37:18.539Z,1751053038.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729335
2025-06-27T19:37:18.581Z,1751053038.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:18.604Z,1751053038.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:18.611Z,1751053038.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 400.854828 m,
      bearing: 247.679202 deg,
      approach rate: -0.747596 m/s,
      LOS rate: -0.004532 deg/s,
      cmd heading: 246.709602 deg,
      new cmd heading: 246.705008 deg.

2025-06-27T19:37:18.612Z,1751053038.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305815 target range: 420.371582 and range: 424.20 m.
2025-06-27T19:37:18.792Z,1751053038.792 [DAT](INFO): DAT read: Range 10 to 50 : 421.3 m  (Round-trip  561.8 ms) speed  0.5 m/s

2025-06-27T19:37:18.793Z,1751053038.793 [DAT](INFO): DAT read: user:2607>

2025-06-27T19:37:18.796Z,1751053038.796 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:37:18.798Z,1751053038.798 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:18.798Z,1751053038.798 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:18.799Z,1751053038.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:18.969Z,1751053038.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 421.299988 m,
      deltaT: 4.030637 s,
      deltaX: -2.900024 m,
      approachRate: -0.719495 m/s,
      rangeRepo size: 4

2025-06-27T19:37:18.970Z,1751053038.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:18.973Z,1751053038.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 400.568756 m,
      bearing: 247.677511 deg,
      approach rate: -0.784640 m/s,
      LOS rate: -0.004641 deg/s,
      cmd heading: 246.705012 deg,
      new cmd heading: 246.699936 deg.

2025-06-27T19:37:18.974Z,1751053038.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305726 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:19.044Z,1751053039.044 [DAT](INFO): DAT read: Tx time:19:37:17.7666

2025-06-27T19:37:19.045Z,1751053039.045 [DAT](INFO): Ping request sent.
2025-06-27T19:37:19.046Z,1751053039.046 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:19.047Z,1751053039.047 [DAT](INFO): DAT read: TxSync time:19:37:17.7659

2025-06-27T19:37:19.048Z,1751053039.048 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:19.048Z,1751053039.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002922
2025-06-27T19:37:19.295Z,1751053039.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249906
2025-06-27T19:37:19.403Z,1751053039.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:19.406Z,1751053039.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 400.239166 m,
      bearing: 247.675431 deg,
      approach rate: -0.757873 m/s,
      LOS rate: -0.004787 deg/s,
      cmd heading: 246.699930 deg,
      new cmd heading: 246.693685 deg.

2025-06-27T19:37:19.407Z,1751053039.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305617 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:19.547Z,1751053039.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501929
2025-06-27T19:37:19.777Z,1751053039.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:19.780Z,1751053039.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 399.959229 m,
      bearing: 247.673712 deg,
      approach rate: -0.749126 m/s,
      LOS rate: -0.004604 deg/s,
      cmd heading: 246.693674 deg,
      new cmd heading: 246.688512 deg.

2025-06-27T19:37:19.781Z,1751053039.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305527 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:19.800Z,1751053039.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754999
2025-06-27T19:37:20.051Z,1751053040.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005855
2025-06-27T19:37:20.277Z,1751053040.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:20.280Z,1751053040.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 399.585327 m,
      bearing: 247.672214 deg,
      approach rate: -0.748430 m/s,
      LOS rate: -0.003001 deg/s,
      cmd heading: 246.688510 deg,
      new cmd heading: 246.684013 deg.

2025-06-27T19:37:20.281Z,1751053040.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305448 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:20.303Z,1751053040.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258002
2025-06-27T19:37:20.555Z,1751053040.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510069
2025-06-27T19:37:20.588Z,1751053040.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:20.590Z,1751053040.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:20.593Z,1751053040.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 399.350769 m,
      bearing: 247.671244 deg,
      approach rate: -0.748084 m/s,
      LOS rate: -0.003096 deg/s,
      cmd heading: 246.684002 deg,
      new cmd heading: 246.681090 deg.

2025-06-27T19:37:20.594Z,1751053040.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305397 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:20.808Z,1751053040.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762351
2025-06-27T19:37:20.987Z,1751053040.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:20.990Z,1751053040.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 399.053925 m,
      bearing: 247.669998 deg,
      approach rate: -0.749494 m/s,
      LOS rate: -0.003148 deg/s,
      cmd heading: 246.681079 deg,
      new cmd heading: 246.677339 deg.

2025-06-27T19:37:21.008Z,1751053041.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305332 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:21.060Z,1751053041.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014556
2025-06-27T19:37:21.312Z,1751053041.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897
2025-06-27T19:37:21.407Z,1751053041.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:21.410Z,1751053041.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 398.748138 m,
      bearing: 247.668545 deg,
      approach rate: -0.727067 m/s,
      LOS rate: -0.003458 deg/s,
      cmd heading: 246.677336 deg,
      new cmd heading: 246.672973 deg.

2025-06-27T19:37:21.411Z,1751053041.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305255 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:21.563Z,1751053041.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914
2025-06-27T19:37:21.813Z,1751053041.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:21.823Z,1751053041.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777981
2025-06-27T19:37:21.832Z,1751053041.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 398.452515 m,
      bearing: 247.667130 deg,
      approach rate: -0.728186 m/s,
      LOS rate: -0.003487 deg/s,
      cmd heading: 246.672965 deg,
      new cmd heading: 246.668718 deg.

2025-06-27T19:37:21.833Z,1751053041.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305182 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:22.075Z,1751053042.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030031
2025-06-27T19:37:22.270Z,1751053042.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:22.273Z,1751053042.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 398.129211 m,
      bearing: 247.665572 deg,
      approach rate: -0.707881 m/s,
      LOS rate: -0.003414 deg/s,
      cmd heading: 246.668730 deg,
      new cmd heading: 246.664052 deg.

2025-06-27T19:37:22.273Z,1751053042.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305100 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:22.332Z,1751053042.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286053
2025-06-27T19:37:22.585Z,1751053042.585 [DAT](INFO): DAT read: 19:37:20.7284 LVL= 24656, 31169, 22706, 32755, AGC= 71, IDX= 393, 0.23,-2.921, 1.790,-3.076, 2.651, PHS= 0.800,-0.814, 0.553, RAW= 141.8,  -7.2, CAL= 148.0, -16.6, ROT=   2.0,  16.6

2025-06-27T19:37:22.586Z,1751053042.586 [DAT](INFO): got valid direction response:
 19:37:20.7284 LVL= 24656, 31169, 22706, 32755, AGC= 71, IDX= 393, 0.23,-2.921, 1.790,-3.076, 2.651, PHS= 0.800,-0.814, 0.553, RAW= 141.8,  -7.2, CAL= 148.0, -16.6, ROT=   2.0,  16.6

2025-06-27T19:37:22.587Z,1751053042.587 [DAT](INFO): DAT read: Rx Time:19:37:20.7284

2025-06-27T19:37:22.588Z,1751053042.588 [DAT](INFO): Rx dataTimestamp_ set to:1751053042.587449
2025-06-27T19:37:22.588Z,1751053042.588 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-27T19:37:22.589Z,1751053042.589 [DAT](INFO): Received low SNR in chirp
2025-06-27T19:37:22.603Z,1751053042.603 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:37:22.604Z,1751053042.604 [DAT](INFO): direction in FSK: [0.957739,0.033445,-0.285688]
2025-06-27T19:37:22.619Z,1751053042.619 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:22.619Z,1751053042.619 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:22.619Z,1751053042.619 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:22.692Z,1751053042.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:22.699Z,1751053042.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:22.702Z,1751053042.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 397.827454 m,
      bearing: 247.664040 deg,
      approach rate: -0.710801 m/s,
      LOS rate: -0.003611 deg/s,
      cmd heading: 246.664058 deg,
      new cmd heading: 246.659460 deg.

2025-06-27T19:37:22.708Z,1751053042.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305020 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:22.831Z,1751053042.831 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:22.831Z,1751053042.831 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:22.831Z,1751053042.831 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:23.012Z,1751053043.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:23.016Z,1751053043.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 397.587006 m,
      bearing: 247.662802 deg,
      approach rate: -0.760231 m/s,
      LOS rate: -0.003918 deg/s,
      cmd heading: 246.659468 deg,
      new cmd heading: 246.655751 deg.

2025-06-27T19:37:23.018Z,1751053043.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304955 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:23.084Z,1751053043.084 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:23.084Z,1751053043.084 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:23.084Z,1751053043.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:23.335Z,1751053043.335 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:23.335Z,1751053043.335 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:23.335Z,1751053043.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:23.587Z,1751053043.587 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:23.587Z,1751053043.587 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:23.587Z,1751053043.587 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:23.629Z,1751053043.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:23.632Z,1751053043.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 397.139069 m,
      bearing: 247.660007 deg,
      approach rate: -0.724367 m/s,
      LOS rate: -0.004525 deg/s,
      cmd heading: 246.655753 deg,
      new cmd heading: 246.647359 deg.

2025-06-27T19:37:23.633Z,1751053043.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304809 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:23.839Z,1751053043.839 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:23.839Z,1751053043.839 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:23.839Z,1751053043.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:23.966Z,1751053043.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:23.969Z,1751053043.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 396.900574 m,
      bearing: 247.658501 deg,
      approach rate: -0.707435 m/s,
      LOS rate: -0.004471 deg/s,
      cmd heading: 246.647365 deg,
      new cmd heading: 246.642844 deg.

2025-06-27T19:37:23.970Z,1751053043.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304730 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:24.091Z,1751053044.091 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:24.091Z,1751053044.091 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:24.092Z,1751053044.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:24.343Z,1751053044.343 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:24.343Z,1751053044.343 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:24.343Z,1751053044.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:24.391Z,1751053044.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:24.393Z,1751053044.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 396.579956 m,
      bearing: 247.656392 deg,
      approach rate: -0.755009 m/s,
      LOS rate: -0.004971 deg/s,
      cmd heading: 246.642857 deg,
      new cmd heading: 246.636525 deg.

2025-06-27T19:37:24.395Z,1751053044.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304619 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:24.595Z,1751053044.595 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:24.595Z,1751053044.595 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:24.595Z,1751053044.595 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:24.771Z,1751053044.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:24.773Z,1751053044.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:24.776Z,1751053044.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 396.301727 m,
      bearing: 247.654538 deg,
      approach rate: -0.726979 m/s,
      LOS rate: -0.004848 deg/s,
      cmd heading: 246.636519 deg,
      new cmd heading: 246.630953 deg.

2025-06-27T19:37:24.777Z,1751053044.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304522 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:24.848Z,1751053044.848 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:24.848Z,1751053044.848 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:24.848Z,1751053044.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:25.099Z,1751053045.099 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:25.099Z,1751053045.099 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:25.099Z,1751053045.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:25.310Z,1751053045.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:25.313Z,1751053045.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 395.907471 m,
      bearing: 247.651914 deg,
      approach rate: -0.734938 m/s,
      LOS rate: -0.004895 deg/s,
      cmd heading: 246.630946 deg,
      new cmd heading: 246.623067 deg.

2025-06-27T19:37:25.314Z,1751053045.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304385 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:25.352Z,1751053045.352 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:25.352Z,1751053045.352 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:25.352Z,1751053045.352 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:25.603Z,1751053045.603 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:25.603Z,1751053045.603 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:25.603Z,1751053045.603 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:25.660Z,1751053045.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:25.667Z,1751053045.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 395.654846 m,
      bearing: 247.650230 deg,
      approach rate: -0.720997 m/s,
      LOS rate: -0.004809 deg/s,
      cmd heading: 246.623077 deg,
      new cmd heading: 246.618022 deg.

2025-06-27T19:37:25.668Z,1751053045.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304296 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:25.858Z,1751053045.858 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:25.858Z,1751053045.858 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:25.858Z,1751053045.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:26.032Z,1751053046.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:26.036Z,1751053046.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 395.376495 m,
      bearing: 247.648364 deg,
      approach rate: -0.747897 m/s,
      LOS rate: -0.005019 deg/s,
      cmd heading: 246.618023 deg,
      new cmd heading: 246.612419 deg.

2025-06-27T19:37:26.037Z,1751053046.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304199 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:26.108Z,1751053046.108 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:26.108Z,1751053046.108 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:26.108Z,1751053046.108 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:26.359Z,1751053046.359 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:26.359Z,1751053046.359 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:26.359Z,1751053046.359 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:26.454Z,1751053046.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:26.457Z,1751053046.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 395.060791 m,
      bearing: 247.645309 deg,
      approach rate: -0.748262 m/s,
      LOS rate: -0.007246 deg/s,
      cmd heading: 246.612422 deg,
      new cmd heading: 246.603250 deg.

2025-06-27T19:37:26.458Z,1751053046.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304039 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:26.611Z,1751053046.611 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:26.611Z,1751053046.611 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:26.611Z,1751053046.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:26.833Z,1751053046.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:26.835Z,1751053046.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:26.838Z,1751053046.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 394.777344 m,
      bearing: 247.642572 deg,
      approach rate: -0.743525 m/s,
      LOS rate: -0.007184 deg/s,
      cmd heading: 246.603242 deg,
      new cmd heading: 246.595026 deg.

2025-06-27T19:37:26.839Z,1751053046.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303895 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:26.881Z,1751053046.881 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:26.882Z,1751053046.882 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:26.882Z,1751053046.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:27.131Z,1751053047.131 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:27.131Z,1751053047.131 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:27.131Z,1751053047.131 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:27.268Z,1751053047.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:27.293Z,1751053047.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 394.477509 m,
      bearing: 247.639669 deg,
      approach rate: -0.695401 m/s,
      LOS rate: -0.006739 deg/s,
      cmd heading: 246.595019 deg,
      new cmd heading: 246.586302 deg.

2025-06-27T19:37:27.303Z,1751053047.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303743 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:27.385Z,1751053047.385 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:27.385Z,1751053047.385 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:27.385Z,1751053047.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:27.635Z,1751053047.635 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:27.635Z,1751053047.635 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:27.635Z,1751053047.635 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:27.690Z,1751053047.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:27.693Z,1751053047.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 394.139954 m,
      bearing: 247.637227 deg,
      approach rate: -0.804720 m/s,
      LOS rate: -0.005826 deg/s,
      cmd heading: 246.586303 deg,
      new cmd heading: 246.578972 deg.

2025-06-27T19:37:27.694Z,1751053047.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303615 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:27.887Z,1751053047.887 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:27.887Z,1751053047.887 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:27.887Z,1751053047.887 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:28.037Z,1751053048.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:28.046Z,1751053048.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 393.865753 m,
      bearing: 247.635292 deg,
      approach rate: -0.782851 m/s,
      LOS rate: -0.005529 deg/s,
      cmd heading: 246.578981 deg,
      new cmd heading: 246.573172 deg.

2025-06-27T19:37:28.048Z,1751053048.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303514 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:28.139Z,1751053048.139 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:28.139Z,1751053048.139 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:28.140Z,1751053048.140 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:28.391Z,1751053048.391 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:28.391Z,1751053048.391 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:28.391Z,1751053048.391 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:28.469Z,1751053048.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:28.472Z,1751053048.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 393.532745 m,
      bearing: 247.633216 deg,
      approach rate: -0.769478 m/s,
      LOS rate: -0.004801 deg/s,
      cmd heading: 246.573162 deg,
      new cmd heading: 246.566928 deg.

2025-06-27T19:37:28.473Z,1751053048.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303405 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:28.643Z,1751053048.643 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:28.643Z,1751053048.643 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:28.644Z,1751053048.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:28.844Z,1751053048.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:28.851Z,1751053048.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:28.857Z,1751053048.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 393.254791 m,
      bearing: 247.631521 deg,
      approach rate: -0.736390 m/s,
      LOS rate: -0.004493 deg/s,
      cmd heading: 246.566933 deg,
      new cmd heading: 246.561845 deg.

2025-06-27T19:37:28.858Z,1751053048.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303316 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:28.895Z,1751053048.895 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:28.895Z,1751053048.895 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:28.895Z,1751053048.895 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:37:29.147Z,1751053049.147 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:29.147Z,1751053049.147 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:29.148Z,1751053049.148 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:29.294Z,1751053049.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:29.312Z,1751053049.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 392.926544 m,
      bearing: 247.629572 deg,
      approach rate: -0.736550 m/s,
      LOS rate: -0.004376 deg/s,
      cmd heading: 246.561851 deg,
      new cmd heading: 246.556001 deg.

2025-06-27T19:37:29.320Z,1751053049.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303214 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:29.400Z,1751053049.400 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:29.400Z,1751053049.400 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:29.400Z,1751053049.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:29.651Z,1751053049.651 [DAT](INFO): Reached modem response timeout
2025-06-27T19:37:29.651Z,1751053049.651 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:37:29.652Z,1751053049.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:29.665Z,1751053049.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:29.684Z,1751053049.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 392.610291 m,
      bearing: 247.628974 deg,
      approach rate: -0.848274 m/s,
      LOS rate: -0.001607 deg/s,
      cmd heading: 246.556005 deg,
      new cmd heading: 246.554208 deg.

2025-06-27T19:37:29.685Z,1751053049.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303183 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:29.904Z,1751053049.904 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:37:29.905Z,1751053049.905 [DAT](INFO): response not received
2025-06-27T19:37:29.905Z,1751053049.905 [DAT](INFO): DAT read: user:2609>

2025-06-27T19:37:29.906Z,1751053049.906 [DAT](INFO): DAT read: Tx time:19:37:28.7167

2025-06-27T19:37:29.907Z,1751053049.907 [DAT](INFO): Ping request sent.
2025-06-27T19:37:29.907Z,1751053049.907 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:29.907Z,1751053049.907 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:29.908Z,1751053049.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001096
2025-06-27T19:37:30.054Z,1751053050.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:30.057Z,1751053050.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 392.308929 m,
      bearing: 247.628420 deg,
      approach rate: -0.774835 m/s,
      LOS rate: -0.001426 deg/s,
      cmd heading: 246.554202 deg,
      new cmd heading: 246.552537 deg.

2025-06-27T19:37:30.058Z,1751053050.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303154 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:30.156Z,1751053050.156 [DAT](INFO): DAT read: TxSync time:19:37:28.7160

2025-06-27T19:37:30.156Z,1751053050.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249433
2025-06-27T19:37:30.409Z,1751053050.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501795
2025-06-27T19:37:30.470Z,1751053050.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:30.496Z,1751053050.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 391.994751 m,
      bearing: 247.627811 deg,
      approach rate: -0.756087 m/s,
      LOS rate: -0.001467 deg/s,
      cmd heading: 246.552535 deg,
      new cmd heading: 246.550707 deg.

2025-06-27T19:37:30.497Z,1751053050.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303122 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:30.659Z,1751053050.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752382
2025-06-27T19:37:30.845Z,1751053050.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:30.848Z,1751053050.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:30.851Z,1751053050.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 391.709137 m,
      bearing: 247.627255 deg,
      approach rate: -0.755219 m/s,
      LOS rate: -0.001472 deg/s,
      cmd heading: 246.550705 deg,
      new cmd heading: 246.549035 deg.

2025-06-27T19:37:30.852Z,1751053050.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303092 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:30.912Z,1751053050.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004701
2025-06-27T19:37:31.163Z,1751053051.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256550
2025-06-27T19:37:31.269Z,1751053051.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:31.272Z,1751053051.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 391.390411 m,
      bearing: 247.626654 deg,
      approach rate: -0.756885 m/s,
      LOS rate: -0.001428 deg/s,
      cmd heading: 246.549038 deg,
      new cmd heading: 246.547234 deg.

2025-06-27T19:37:31.274Z,1751053051.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303061 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:31.416Z,1751053051.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508721
2025-06-27T19:37:31.667Z,1751053051.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760482
2025-06-27T19:37:31.698Z,1751053051.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:31.701Z,1751053051.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 391.072937 m,
      bearing: 247.627170 deg,
      approach rate: -0.739279 m/s,
      LOS rate: 0.001204 deg/s,
      cmd heading: 246.547235 deg,
      new cmd heading: 246.548786 deg.

2025-06-27T19:37:31.702Z,1751053051.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303088 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:31.919Z,1751053051.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012457
2025-06-27T19:37:32.109Z,1751053052.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:32.112Z,1751053052.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 390.769287 m,
      bearing: 247.627628 deg,
      approach rate: -0.739747 m/s,
      LOS rate: 0.001115 deg/s,
      cmd heading: 246.548792 deg,
      new cmd heading: 246.550166 deg.

2025-06-27T19:37:32.113Z,1751053052.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303112 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:32.172Z,1751053052.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264623
2025-06-27T19:37:32.424Z,1751053052.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517126
2025-06-27T19:37:32.528Z,1751053052.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:32.531Z,1751053052.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 390.456940 m,
      bearing: 247.627686 deg,
      approach rate: -0.744677 m/s,
      LOS rate: 0.000138 deg/s,
      cmd heading: 246.550158 deg,
      new cmd heading: 246.550332 deg.

2025-06-27T19:37:32.532Z,1751053052.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303115 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:32.675Z,1751053052.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768455
2025-06-27T19:37:32.912Z,1751053052.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:32.915Z,1751053052.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:32.917Z,1751053052.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 390.168793 m,
      bearing: 247.627724 deg,
      approach rate: -0.745954 m/s,
      LOS rate: 0.000099 deg/s,
      cmd heading: 246.550322 deg,
      new cmd heading: 246.550436 deg.

2025-06-27T19:37:32.918Z,1751053052.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303117 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:32.927Z,1751053052.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020484
2025-06-27T19:37:33.179Z,1751053053.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272487
2025-06-27T19:37:33.319Z,1751053053.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:33.326Z,1751053053.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 389.866730 m,
      bearing: 247.627748 deg,
      approach rate: -0.746430 m/s,
      LOS rate: 0.000060 deg/s,
      cmd heading: 246.550431 deg,
      new cmd heading: 246.550504 deg.

2025-06-27T19:37:33.330Z,1751053053.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303118 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:33.433Z,1751053053.433 [DAT](INFO): DAT read: Rx Time:19:37:31.6679

2025-06-27T19:37:33.434Z,1751053053.434 [DAT](INFO): Rx dataTimestamp_ set to:1751053053.433090
2025-06-27T19:37:33.435Z,1751053053.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527346
2025-06-27T19:37:33.685Z,1751053053.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777462
2025-06-27T19:37:33.813Z,1751053053.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 420.37 m.
2025-06-27T19:37:33.820Z,1751053053.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 420.371582 m,
      nav range: 389.540344 m,
      bearing: 247.627537 deg,
      approach rate: -0.660523 m/s,
      LOS rate: -0.000428 deg/s,
      cmd heading: 246.550513 deg,
      new cmd heading: 246.549878 deg.

2025-06-27T19:37:33.821Z,1751053053.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303107 target range: 420.371582 and range: 421.30 m.
2025-06-27T19:37:33.941Z,1751053053.941 [DAT](INFO): DAT read: 19:37:31.6679 LVL= 32752, 27729, 32754, 32755, AGC= 66, IDX= 468, 0.21, 0.056,-1.627,-0.053,-0.717, PHS= 0.861,-0.863, 0.661, RAW= 143.9,  -8.1, CAL= 150.3, -17.2, ROT= 359.7,  17.2

2025-06-27T19:37:33.943Z,1751053053.943 [DAT](INFO): got valid direction response:
 19:37:31.6679 LVL= 32752, 27729, 32754, 32755, AGC= 66, IDX= 468, 0.21, 0.056,-1.627,-0.053,-0.717, PHS= 0.861,-0.863, 0.661, RAW= 143.9,  -8.1, CAL= 150.3, -17.2, ROT= 359.7,  17.2

2025-06-27T19:37:33.944Z,1751053053.944 [DAT](INFO): DAT read: Bearing 359.7,  17.2 (Local)

2025-06-27T19:37:33.944Z,1751053053.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  17.2 (Local)

2025-06-27T19:37:33.946Z,1751053053.946 [DAT](INFO): DAT read: Range 10 to 50 : 410.2 m  (Round-trip  547.0 ms) speed  0.5 m/s

2025-06-27T19:37:33.946Z,1751053053.946 [DAT](INFO): DAT read: user:2610>

2025-06-27T19:37:33.947Z,1751053053.947 [DAT](INFO): DAT read: Tx time:19:37:32.7667

2025-06-27T19:37:33.947Z,1751053053.947 [DAT](INFO): Ping request sent.
2025-06-27T19:37:33.948Z,1751053053.948 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:33.948Z,1751053053.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:33.949Z,1751053053.949 [DAT](INFO): direction in FSK: [0.955265,-0.005002,-0.295708]
2025-06-27T19:37:33.949Z,1751053053.949 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:33.949Z,1751053053.949 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:33.969Z,1751053053.969 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:33.969Z,1751053053.969 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:34.157Z,1751053054.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.200012 m,
      deltaT: 15.144049 s,
      deltaX: -11.099976 m,
      approachRate: -0.732960 m/s,
      rangeRepo size: 4

2025-06-27T19:37:34.163Z,1751053054.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.496185 m,
      bearing: 247.505862 deg,
      lat: 36.906459 deg,
      lon: -122.116244 deg,
      deltaT: 19.174686 s,
      deltaX: -13.875397 m,
      approachRate: -0.723631 m/s,
      posRepo size: 4

2025-06-27T19:37:34.164Z,1751053054.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:34.171Z,1751053054.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 389.650665 m,
      bearing: 247.486619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000428 deg/s,
      cmd heading: 246.549885 deg,
      new cmd heading: 246.549444 deg.

2025-06-27T19:37:34.172Z,1751053054.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303100 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:34.188Z,1751053054.188 [DAT](INFO): DAT read: TxSync time:19:37:32.7660

2025-06-27T19:37:34.551Z,1751053054.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:34.554Z,1751053054.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 389.338806 m,
      bearing: 247.485560 deg,
      approach rate: -0.790267 m/s,
      LOS rate: -0.002687 deg/s,
      cmd heading: 246.549448 deg,
      new cmd heading: 246.546267 deg.

2025-06-27T19:37:34.555Z,1751053054.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303044 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:34.937Z,1751053054.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:34.939Z,1751053054.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:34.941Z,1751053054.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 389.049988 m,
      bearing: 247.484611 deg,
      approach rate: -0.745092 m/s,
      LOS rate: -0.002449 deg/s,
      cmd heading: 246.546279 deg,
      new cmd heading: 246.543431 deg.

2025-06-27T19:37:34.943Z,1751053054.943 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:34.943Z,1751053054.943 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:34.944Z,1751053054.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:34.946Z,1751053054.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302995 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:35.196Z,1751053055.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248200
2025-06-27T19:37:35.343Z,1751053055.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:35.346Z,1751053055.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 388.751587 m,
      bearing: 247.483672 deg,
      approach rate: -0.737040 m/s,
      LOS rate: -0.002321 deg/s,
      cmd heading: 246.543437 deg,
      new cmd heading: 246.540619 deg.

2025-06-27T19:37:35.347Z,1751053055.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302946 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:35.448Z,1751053055.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500768
2025-06-27T19:37:35.699Z,1751053055.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751785
2025-06-27T19:37:35.776Z,1751053055.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:35.779Z,1751053055.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 388.420074 m,
      bearing: 247.481720 deg,
      approach rate: -0.766480 m/s,
      LOS rate: -0.004517 deg/s,
      cmd heading: 246.540623 deg,
      new cmd heading: 246.534762 deg.

2025-06-27T19:37:35.780Z,1751053055.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302843 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:35.953Z,1751053055.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005401
2025-06-27T19:37:36.157Z,1751053056.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:36.160Z,1751053056.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 388.144989 m,
      bearing: 247.480045 deg,
      approach rate: -0.726517 m/s,
      LOS rate: -0.004427 deg/s,
      cmd heading: 246.534749 deg,
      new cmd heading: 246.529721 deg.

2025-06-27T19:37:36.161Z,1751053056.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302755 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:36.204Z,1751053056.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256353
2025-06-27T19:37:36.455Z,1751053056.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507823
2025-06-27T19:37:36.576Z,1751053056.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:36.580Z,1751053056.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 387.822784 m,
      bearing: 247.477378 deg,
      approach rate: -0.764087 m/s,
      LOS rate: -0.006331 deg/s,
      cmd heading: 246.529722 deg,
      new cmd heading: 246.521713 deg.

2025-06-27T19:37:36.581Z,1751053056.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302616 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:36.708Z,1751053056.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760672
2025-06-27T19:37:36.947Z,1751053056.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:36.949Z,1751053056.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:36.952Z,1751053056.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 387.548615 m,
      bearing: 247.475091 deg,
      approach rate: -0.735940 m/s,
      LOS rate: -0.006143 deg/s,
      cmd heading: 246.521717 deg,
      new cmd heading: 246.514851 deg.

2025-06-27T19:37:36.953Z,1751053056.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302496 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:36.959Z,1751053056.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011862
2025-06-27T19:37:37.211Z,1751053057.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263769
2025-06-27T19:37:37.392Z,1751053057.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:37.414Z,1751053057.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 387.246918 m,
      bearing: 247.472537 deg,
      approach rate: -0.689867 m/s,
      LOS rate: -0.005843 deg/s,
      cmd heading: 246.514860 deg,
      new cmd heading: 246.507194 deg.

2025-06-27T19:37:37.422Z,1751053057.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302362 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:37.464Z,1751053057.464 [DAT](INFO): DAT read: Rx Time:19:37:35.7274

2025-06-27T19:37:37.464Z,1751053057.464 [DAT](INFO): Rx dataTimestamp_ set to:1751053057.463716
2025-06-27T19:37:37.465Z,1751053057.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516977
2025-06-27T19:37:37.715Z,1751053057.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767740
2025-06-27T19:37:37.787Z,1751053057.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.50 m.
2025-06-27T19:37:37.790Z,1751053057.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.496185 m,
      nav range: 386.935730 m,
      bearing: 247.469098 deg,
      approach rate: -0.776225 m/s,
      LOS rate: -0.008585 deg/s,
      cmd heading: 246.507183 deg,
      new cmd heading: 246.496858 deg.

2025-06-27T19:37:37.791Z,1751053057.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302182 target range: 406.496185 and range: 410.20 m.
2025-06-27T19:37:37.973Z,1751053057.973 [DAT](INFO): DAT read: 19:37:35.7274 LVL= 18416, 23153, 17538, 23987, AGC= 74, IDX=  22, 0.10,-0.116,-1.843,-0.334,-0.986, PHS= 0.958,-0.809, 0.650, RAW= 140.6,  -9.8, CAL= 147.3, -19.7, ROT=   2.7,  19.7

2025-06-27T19:37:37.974Z,1751053057.974 [DAT](INFO): got valid direction response:
 19:37:35.7274 LVL= 18416, 23153, 17538, 23987, AGC= 74, IDX=  22, 0.10,-0.116,-1.843,-0.334,-0.986, PHS= 0.958,-0.809, 0.650, RAW= 140.6,  -9.8, CAL= 147.3, -19.7, ROT=   2.7,  19.7

2025-06-27T19:37:37.975Z,1751053057.975 [DAT](INFO): DAT read: Bearing   2.7,  19.7 (Local)

2025-06-27T19:37:37.976Z,1751053057.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  19.7 (Local)

2025-06-27T19:37:37.977Z,1751053057.977 [DAT](INFO): DAT read: Range 10 to 50 : 417.3 m  (Round-trip  556.4 ms) speed  0.4 m/s

2025-06-27T19:37:37.978Z,1751053057.978 [DAT](INFO): DAT read: user:2611>

2025-06-27T19:37:37.979Z,1751053057.979 [DAT](INFO): DAT read: Tx time:19:37:36.8168

2025-06-27T19:37:37.980Z,1751053057.980 [DAT](INFO): Ping request sent.
2025-06-27T19:37:37.980Z,1751053057.980 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:37.980Z,1751053057.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:37.981Z,1751053057.981 [DAT](INFO): direction in FSK: [0.940425,0.044349,-0.337095]
2025-06-27T19:37:37.981Z,1751053057.981 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:37.982Z,1751053057.982 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:38.011Z,1751053058.011 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:38.011Z,1751053058.011 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:38.193Z,1751053058.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 417.299988 m,
      deltaT: 4.031994 s,
      deltaX: 7.099976 m,
      approachRate: 1.760909 m/s,
      rangeRepo size: 4

2025-06-27T19:37:38.201Z,1751053058.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 413.529572 m,
      bearing: 250.728281 deg,
      lat: 36.906542 deg,
      lon: -122.116262 deg,
      deltaT: 4.031994 s,
      deltaX: 7.033386 m,
      approachRate: 1.744394 m/s,
      posRepo size: 4

2025-06-27T19:37:38.207Z,1751053058.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:38.220Z,1751053058.220 [DAT](INFO): DAT read: TxSync time:19:37:36.8161

2025-06-27T19:37:38.224Z,1751053058.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 384.722473 m,
      bearing: 248.834849 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008585 deg/s,
      cmd heading: 246.496855 deg,
      new cmd heading: 246.486445 deg.

2025-06-27T19:37:38.225Z,1751053058.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302000 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:38.605Z,1751053058.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:38.608Z,1751053058.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 384.411621 m,
      bearing: 248.832112 deg,
      approach rate: -0.751017 m/s,
      LOS rate: -0.006618 deg/s,
      cmd heading: 246.486446 deg,
      new cmd heading: 246.478228 deg.

2025-06-27T19:37:38.609Z,1751053058.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301857 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:39.042Z,1751053059.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:39.044Z,1751053059.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:39.047Z,1751053059.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 384.098022 m,
      bearing: 248.829323 deg,
      approach rate: -0.714393 m/s,
      LOS rate: -0.006360 deg/s,
      cmd heading: 246.478223 deg,
      new cmd heading: 246.469847 deg.

2025-06-27T19:37:39.048Z,1751053059.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301710 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:39.227Z,1751053059.227 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:39.227Z,1751053059.227 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:39.227Z,1751053059.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:39.481Z,1751053059.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501544
2025-06-27T19:37:39.496Z,1751053059.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:39.503Z,1751053059.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 383.819122 m,
      bearing: 248.826816 deg,
      approach rate: -0.616626 m/s,
      LOS rate: -0.005545 deg/s,
      cmd heading: 246.469835 deg,
      new cmd heading: 246.462311 deg.

2025-06-27T19:37:39.504Z,1751053059.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301579 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:39.731Z,1751053059.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751469
2025-06-27T19:37:39.829Z,1751053059.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:39.832Z,1751053059.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 383.535858 m,
      bearing: 248.824873 deg,
      approach rate: -0.850722 m/s,
      LOS rate: -0.005842 deg/s,
      cmd heading: 246.462322 deg,
      new cmd heading: 246.456487 deg.

2025-06-27T19:37:39.833Z,1751053059.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301477 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:39.983Z,1751053059.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003532
2025-06-27T19:37:40.210Z,1751053060.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:40.213Z,1751053060.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 383.263031 m,
      bearing: 248.822942 deg,
      approach rate: -0.716686 m/s,
      LOS rate: -0.005074 deg/s,
      cmd heading: 246.456475 deg,
      new cmd heading: 246.450681 deg.

2025-06-27T19:37:40.214Z,1751053060.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301376 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:40.237Z,1751053060.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257282
2025-06-27T19:37:40.490Z,1751053060.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509659
2025-06-27T19:37:40.615Z,1751053060.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:40.617Z,1751053060.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 382.971832 m,
      bearing: 248.820354 deg,
      approach rate: -0.720498 m/s,
      LOS rate: -0.006410 deg/s,
      cmd heading: 246.450683 deg,
      new cmd heading: 246.442911 deg.

2025-06-27T19:37:40.618Z,1751053060.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301240 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:40.740Z,1751053060.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759819
2025-06-27T19:37:40.747Z,1751053060.747 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:37:40.992Z,1751053060.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012316
2025-06-27T19:37:41.043Z,1751053061.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:41.045Z,1751053061.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:41.056Z,1751053061.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 382.677399 m,
      bearing: 248.817732 deg,
      approach rate: -0.683874 m/s,
      LOS rate: -0.006093 deg/s,
      cmd heading: 246.442924 deg,
      new cmd heading: 246.435054 deg.

2025-06-27T19:37:41.057Z,1751053061.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301103 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:41.243Z,1751053061.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263511
2025-06-27T19:37:41.408Z,1751053061.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:41.411Z,1751053061.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 382.399750 m,
      bearing: 248.815217 deg,
      approach rate: -0.764336 m/s,
      LOS rate: -0.006930 deg/s,
      cmd heading: 246.435056 deg,
      new cmd heading: 246.427504 deg.

2025-06-27T19:37:41.412Z,1751053061.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300972 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:41.499Z,1751053061.499 [DAT](INFO): DAT read: Rx Time:19:37:39.7730

2025-06-27T19:37:41.500Z,1751053061.500 [DAT](INFO): Rx dataTimestamp_ set to:1751053061.499287
2025-06-27T19:37:41.503Z,1751053061.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521722
2025-06-27T19:37:41.747Z,1751053061.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767564
2025-06-27T19:37:41.751Z,1751053061.751 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:37:41.930Z,1751053061.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 413.53 m.
2025-06-27T19:37:41.936Z,1751053061.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 413.529572 m,
      nav range: 382.031891 m,
      bearing: 248.813131 deg,
      approach rate: -0.705450 m/s,
      LOS rate: -0.004005 deg/s,
      cmd heading: 246.427515 deg,
      new cmd heading: 246.421250 deg.

2025-06-27T19:37:41.937Z,1751053061.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300862 target range: 413.529572 and range: 417.30 m.
2025-06-27T19:37:42.009Z,1751053062.009 [DAT](INFO): DAT read: 19:37:39.7730 LVL= 25168, 27489, 27266, 32755, AGC= 71, IDX= 401,-0.43,-0.504,-1.883,-0.634,-1.108, PHS= 0.692,-0.728, 0.471, RAW= 141.7,  -6.6, CAL= 147.7, -16.0, ROT=   2.3,  16.0

2025-06-27T19:37:42.017Z,1751053062.017 [DAT](INFO): got valid direction response:
 19:37:39.7730 LVL= 25168, 27489, 27266, 32755, AGC= 71, IDX= 401,-0.43,-0.504,-1.883,-0.634,-1.108, PHS= 0.692,-0.728, 0.471, RAW= 141.7,  -6.6, CAL= 147.7, -16.0, ROT=   2.3,  16.0

2025-06-27T19:37:42.024Z,1751053062.024 [DAT](INFO): DAT read: Bearing   2.3,  16.0 (Local)

2025-06-27T19:37:42.024Z,1751053062.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  16.0 (Local)

2025-06-27T19:37:42.035Z,1751053062.035 [DAT](INFO): DAT read: Range 10 to 50 : 414.0 m  (Round-trip  552.0 ms) speed  0.5 m/s

2025-06-27T19:37:42.036Z,1751053062.036 [DAT](INFO): DAT read: user:2612>

2025-06-27T19:37:42.037Z,1751053062.037 [DAT](INFO): DAT read: Tx time:19:37:40.8668

2025-06-27T19:37:42.037Z,1751053062.037 [DAT](INFO): Ping request sent.
2025-06-27T19:37:42.037Z,1751053062.037 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:42.038Z,1751053062.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:42.043Z,1751053062.043 [DAT](INFO): direction in FSK: [0.960487,0.038577,-0.275637]
2025-06-27T19:37:42.043Z,1751053062.043 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:42.043Z,1751053062.043 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:42.051Z,1751053062.051 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:42.051Z,1751053062.051 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:42.255Z,1751053062.255 [DAT](INFO): DAT read: TxSync time:19:37:40.8661

2025-06-27T19:37:42.260Z,1751053062.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 414.000000 m,
      deltaT: 4.032853 s,
      deltaX: -3.299988 m,
      approachRate: -0.818276 m/s,
      rangeRepo size: 4

2025-06-27T19:37:42.267Z,1751053062.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.259064 m,
      bearing: 250.281428 deg,
      lat: 36.906542 deg,
      lon: -122.116262 deg,
      deltaT: 4.032853 s,
      deltaX: -3.270508 m,
      approachRate: -0.810966 m/s,
      posRepo size: 4

2025-06-27T19:37:42.267Z,1751053062.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:42.270Z,1751053062.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 381.802704 m,
      bearing: 248.811805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004005 deg/s,
      cmd heading: 246.421259 deg,
      new cmd heading: 246.417293 deg.

2025-06-27T19:37:42.275Z,1751053062.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300793 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:42.650Z,1751053062.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:42.653Z,1751053062.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 381.502350 m,
      bearing: 248.811438 deg,
      approach rate: -0.810484 m/s,
      LOS rate: -0.000992 deg/s,
      cmd heading: 246.417297 deg,
      new cmd heading: 246.416194 deg.

2025-06-27T19:37:42.658Z,1751053062.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300774 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:43.031Z,1751053063.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:43.033Z,1751053063.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 381.205841 m,
      bearing: 248.811141 deg,
      approach rate: -0.741014 m/s,
      LOS rate: -0.000741 deg/s,
      cmd heading: 246.416204 deg,
      new cmd heading: 246.415315 deg.

2025-06-27T19:37:43.034Z,1751053063.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300758 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:43.417Z,1751053063.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:43.419Z,1751053063.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:43.422Z,1751053063.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 380.915497 m,
      bearing: 248.810892 deg,
      approach rate: -0.746701 m/s,
      LOS rate: -0.000641 deg/s,
      cmd heading: 246.415303 deg,
      new cmd heading: 246.414555 deg.

2025-06-27T19:37:43.423Z,1751053063.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300745 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:43.513Z,1751053063.513 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:43.514Z,1751053063.514 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:43.515Z,1751053063.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:43.763Z,1751053063.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725958
2025-06-27T19:37:43.885Z,1751053063.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:43.892Z,1751053063.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 380.577545 m,
      bearing: 248.811354 deg,
      approach rate: -0.735611 m/s,
      LOS rate: 0.001007 deg/s,
      cmd heading: 246.414565 deg,
      new cmd heading: 246.415953 deg.

2025-06-27T19:37:43.893Z,1751053063.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300770 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:44.016Z,1751053064.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978714
2025-06-27T19:37:44.237Z,1751053064.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:44.245Z,1751053064.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 380.302185 m,
      bearing: 248.811746 deg,
      approach rate: -0.767653 m/s,
      LOS rate: 0.001091 deg/s,
      cmd heading: 246.415959 deg,
      new cmd heading: 246.417133 deg.

2025-06-27T19:37:44.246Z,1751053064.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300790 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:44.267Z,1751053064.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230026
2025-06-27T19:37:44.522Z,1751053064.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484117
2025-06-27T19:37:44.670Z,1751053064.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:44.673Z,1751053064.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 379.971924 m,
      bearing: 248.812057 deg,
      approach rate: -0.763333 m/s,
      LOS rate: 0.000720 deg/s,
      cmd heading: 246.417133 deg,
      new cmd heading: 246.418068 deg.

2025-06-27T19:37:44.674Z,1751053064.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300807 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:44.771Z,1751053064.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734035
2025-06-27T19:37:45.024Z,1751053065.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986298
2025-06-27T19:37:45.050Z,1751053065.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:45.053Z,1751053065.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 379.682129 m,
      bearing: 248.812236 deg,
      approach rate: -0.763470 m/s,
      LOS rate: 0.000471 deg/s,
      cmd heading: 246.418062 deg,
      new cmd heading: 246.418599 deg.

2025-06-27T19:37:45.054Z,1751053065.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300816 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:45.275Z,1751053065.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237877
2025-06-27T19:37:45.442Z,1751053065.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:45.444Z,1751053065.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:45.447Z,1751053065.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 379.381561 m,
      bearing: 248.812362 deg,
      approach rate: -0.761345 m/s,
      LOS rate: 0.000320 deg/s,
      cmd heading: 246.418609 deg,
      new cmd heading: 246.418988 deg.

2025-06-27T19:37:45.448Z,1751053065.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300823 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:45.530Z,1751053065.530 [DAT](INFO): DAT read: Rx Time:19:37:43.8071

2025-06-27T19:37:45.532Z,1751053065.532 [DAT](INFO): Rx dataTimestamp_ set to:1751053065.530939
2025-06-27T19:37:45.533Z,1751053065.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495733
2025-06-27T19:37:45.781Z,1751053065.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743233
2025-06-27T19:37:45.871Z,1751053065.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.26 m.
2025-06-27T19:37:45.874Z,1751053065.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.259064 m,
      nav range: 379.049957 m,
      bearing: 248.813111 deg,
      approach rate: -0.776687 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 246.418991 deg,
      new cmd heading: 246.421239 deg.

2025-06-27T19:37:45.875Z,1751053065.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300862 target range: 410.259064 and range: 414.00 m.
2025-06-27T19:37:46.037Z,1751053066.037 [DAT](INFO): DAT read: 19:37:43.8071 LVL= 23520, 30561, 22946, 31075, AGC= 70, IDX= 286,-0.26,-0.600,-1.950,-0.929,-1.111, PHS= 0.599,-0.792, 0.179, RAW= 132.9,   0.2, CAL= 138.5,  -8.4, ROT=  11.5,   8.4

2025-06-27T19:37:46.039Z,1751053066.039 [DAT](INFO): got valid direction response:
 19:37:43.8071 LVL= 23520, 30561, 22946, 31075, AGC= 70, IDX= 286,-0.26,-0.600,-1.950,-0.929,-1.111, PHS= 0.599,-0.792, 0.179, RAW= 132.9,   0.2, CAL= 138.5,  -8.4, ROT=  11.5,   8.4

2025-06-27T19:37:46.040Z,1751053066.040 [DAT](INFO): DAT read: Bearing  11.5,   8.4 (Local)

2025-06-27T19:37:46.040Z,1751053066.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.5,   8.4 (Local)

2025-06-27T19:37:46.042Z,1751053066.042 [DAT](INFO): DAT read: Range 10 to 50 : 402.0 m  (Round-trip  536.1 ms) speed  0.5 m/s

2025-06-27T19:37:46.042Z,1751053066.042 [DAT](INFO): DAT read: user:2613>

2025-06-27T19:37:46.043Z,1751053066.043 [DAT](INFO): DAT read: Tx time:19:37:44.9168

2025-06-27T19:37:46.043Z,1751053066.043 [DAT](INFO): Ping request sent.
2025-06-27T19:37:46.043Z,1751053066.043 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:46.044Z,1751053066.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:46.045Z,1751053066.045 [DAT](INFO): direction in FSK: [0.969412,0.197229,-0.146083]
2025-06-27T19:37:46.045Z,1751053066.045 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:46.045Z,1751053066.045 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:46.053Z,1751053066.053 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:46.053Z,1751053066.053 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:46.284Z,1751053066.284 [DAT](INFO): DAT read: TxSync time:19:37:44.9161

2025-06-27T19:37:46.289Z,1751053066.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 402.000000 m,
      deltaT: 4.031195 s,
      deltaX: -12.000000 m,
      approachRate: -2.976785 m/s,
      rangeRepo size: 4

2025-06-27T19:37:46.296Z,1751053066.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 398.366516 m,
      bearing: 258.725695 deg,
      lat: 36.906579 deg,
      lon: -122.116401 deg,
      deltaT: 4.031195 s,
      deltaX: -11.892548 m,
      approachRate: -2.950130 m/s,
      posRepo size: 4

2025-06-27T19:37:46.296Z,1751053066.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:46.303Z,1751053066.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 388.832916 m,
      bearing: 250.039962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001755 deg/s,
      cmd heading: 246.421231 deg,
      new cmd heading: 246.423429 deg.

2025-06-27T19:37:46.304Z,1751053066.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300900 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:46.671Z,1751053066.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:46.673Z,1751053066.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 388.520020 m,
      bearing: 250.041614 deg,
      approach rate: -0.819578 m/s,
      LOS rate: 0.004330 deg/s,
      cmd heading: 246.423417 deg,
      new cmd heading: 246.428377 deg.

2025-06-27T19:37:46.674Z,1751053066.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300987 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:47.057Z,1751053067.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:47.060Z,1751053067.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 388.215942 m,
      bearing: 250.043281 deg,
      approach rate: -0.786111 m/s,
      LOS rate: 0.004314 deg/s,
      cmd heading: 246.428389 deg,
      new cmd heading: 246.433395 deg.

2025-06-27T19:37:47.061Z,1751053067.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301074 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:47.473Z,1751053067.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:47.475Z,1751053067.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:47.477Z,1751053067.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 387.888245 m,
      bearing: 250.045148 deg,
      approach rate: -0.784553 m/s,
      LOS rate: 0.004475 deg/s,
      cmd heading: 246.433389 deg,
      new cmd heading: 246.438996 deg.

2025-06-27T19:37:47.479Z,1751053067.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301172 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:47.547Z,1751053067.547 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:47.547Z,1751053067.547 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:47.548Z,1751053067.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:47.795Z,1751053067.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751868
2025-06-27T19:37:47.891Z,1751053067.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:47.893Z,1751053067.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 387.563629 m,
      bearing: 250.047068 deg,
      approach rate: -0.781498 m/s,
      LOS rate: 0.004625 deg/s,
      cmd heading: 246.438990 deg,
      new cmd heading: 246.444754 deg.

2025-06-27T19:37:47.894Z,1751053067.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301272 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:48.047Z,1751053068.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003903
2025-06-27T19:37:48.282Z,1751053068.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:48.285Z,1751053068.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 387.257721 m,
      bearing: 250.048904 deg,
      approach rate: -0.780523 m/s,
      LOS rate: 0.004689 deg/s,
      cmd heading: 246.444755 deg,
      new cmd heading: 246.450268 deg.

2025-06-27T19:37:48.286Z,1751053068.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301369 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:48.299Z,1751053068.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255886
2025-06-27T19:37:48.551Z,1751053068.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507954
2025-06-27T19:37:48.707Z,1751053068.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:48.710Z,1751053068.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 386.944031 m,
      bearing: 250.049705 deg,
      approach rate: -0.738240 m/s,
      LOS rate: 0.001887 deg/s,
      cmd heading: 246.450273 deg,
      new cmd heading: 246.452678 deg.

2025-06-27T19:37:48.715Z,1751053068.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301411 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:48.804Z,1751053068.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760384
2025-06-27T19:37:49.055Z,1751053069.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011741
2025-06-27T19:37:49.083Z,1751053069.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:49.087Z,1751053069.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 386.642700 m,
      bearing: 250.050514 deg,
      approach rate: -0.800740 m/s,
      LOS rate: 0.002150 deg/s,
      cmd heading: 246.452678 deg,
      new cmd heading: 246.455104 deg.

2025-06-27T19:37:49.088Z,1751053069.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301453 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:49.308Z,1751053069.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264217
2025-06-27T19:37:49.512Z,1751053069.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:49.514Z,1751053069.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:49.521Z,1751053069.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 386.330048 m,
      bearing: 250.051381 deg,
      approach rate: -0.726371 m/s,
      LOS rate: 0.002016 deg/s,
      cmd heading: 246.455109 deg,
      new cmd heading: 246.457712 deg.

2025-06-27T19:37:49.522Z,1751053069.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301498 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:49.560Z,1751053069.560 [DAT](INFO): DAT read: Rx Time:19:37:47.8669

2025-06-27T19:37:49.560Z,1751053069.560 [DAT](INFO): Rx dataTimestamp_ set to:1751053069.559821
2025-06-27T19:37:49.562Z,1751053069.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517709
2025-06-27T19:37:49.811Z,1751053069.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767793
2025-06-27T19:37:49.908Z,1751053069.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 398.37 m.
2025-06-27T19:37:49.911Z,1751053069.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 398.366516 m,
      nav range: 386.011047 m,
      bearing: 250.052852 deg,
      approach rate: -0.808697 m/s,
      LOS rate: 0.003732 deg/s,
      cmd heading: 246.457705 deg,
      new cmd heading: 246.462121 deg.

2025-06-27T19:37:49.912Z,1751053069.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301576 target range: 398.366516 and range: 402.00 m.
2025-06-27T19:37:50.069Z,1751053070.069 [DAT](INFO): DAT read: 19:37:47.8669 LVL= 13408, 15105, 11090, 15187, AGC= 72, IDX=  19,-0.04, 1.007,-0.611, 0.935, 0.373, PHS= 0.722,-0.937, 0.559, RAW= 144.9,  -4.4, CAL= 150.0, -13.4, ROT= 360.0,  13.4

2025-06-27T19:37:50.071Z,1751053070.071 [DAT](INFO): got valid direction response:
 19:37:47.8669 LVL= 13408, 15105, 11090, 15187, AGC= 72, IDX=  19,-0.04, 1.007,-0.611, 0.935, 0.373, PHS= 0.722,-0.937, 0.559, RAW= 144.9,  -4.4, CAL= 150.0, -13.4, ROT= 360.0,  13.4

2025-06-27T19:37:50.072Z,1751053070.072 [DAT](INFO): DAT read: Bearing 360.0,  13.4 (Local)

2025-06-27T19:37:50.072Z,1751053070.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  13.4 (Local)

2025-06-27T19:37:50.074Z,1751053070.074 [DAT](INFO): DAT read: Range 10 to 50 : 409.4 m  (Round-trip  545.9 ms) speed  0.4 m/s

2025-06-27T19:37:50.075Z,1751053070.075 [DAT](INFO): DAT read: user:2614>

2025-06-27T19:37:50.075Z,1751053070.075 [DAT](INFO): DAT read: Tx time:19:37:48.9668

2025-06-27T19:37:50.076Z,1751053070.076 [DAT](INFO): Ping request sent.
2025-06-27T19:37:50.076Z,1751053070.076 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:50.076Z,1751053070.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:50.077Z,1751053070.077 [DAT](INFO): direction in FSK: [0.972776,0.000000,-0.231748]
2025-06-27T19:37:50.077Z,1751053070.077 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:50.077Z,1751053070.077 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:50.081Z,1751053070.081 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:50.081Z,1751053070.081 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:50.316Z,1751053070.316 [DAT](INFO): DAT read: TxSync time:19:37:48.9661

2025-06-27T19:37:50.349Z,1751053070.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 409.399994 m,
      deltaT: 4.032096 s,
      deltaX: 7.399994 m,
      approachRate: 1.835272 m/s,
      rangeRepo size: 4

2025-06-27T19:37:50.351Z,1751053070.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 405.699554 m,
      bearing: 247.202626 deg,
      lat: 36.906579 deg,
      lon: -122.116428 deg,
      deltaT: 4.032096 s,
      deltaX: 7.333038 m,
      approachRate: 1.818667 m/s,
      posRepo size: 4

2025-06-27T19:37:50.352Z,1751053070.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:50.354Z,1751053070.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 387.956940 m,
      bearing: 250.175415 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003732 deg/s,
      cmd heading: 246.462131 deg,
      new cmd heading: 246.467052 deg.

2025-06-27T19:37:50.355Z,1751053070.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301661 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:50.727Z,1751053070.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:50.730Z,1751053070.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 387.665253 m,
      bearing: 250.175926 deg,
      approach rate: -0.769180 m/s,
      LOS rate: 0.001349 deg/s,
      cmd heading: 246.467048 deg,
      new cmd heading: 246.468583 deg.

2025-06-27T19:37:50.735Z,1751053070.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301688 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:51.099Z,1751053071.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:51.102Z,1751053071.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 387.375763 m,
      bearing: 250.176441 deg,
      approach rate: -0.778171 m/s,
      LOS rate: 0.001384 deg/s,
      cmd heading: 246.468578 deg,
      new cmd heading: 246.470123 deg.

2025-06-27T19:37:51.103Z,1751053071.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301715 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:51.499Z,1751053071.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:51.502Z,1751053071.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 387.077515 m,
      bearing: 250.177007 deg,
      approach rate: -0.746666 m/s,
      LOS rate: 0.001417 deg/s,
      cmd heading: 246.470136 deg,
      new cmd heading: 246.471834 deg.

2025-06-27T19:37:51.503Z,1751053071.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301745 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:51.956Z,1751053071.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:51.958Z,1751053071.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:51.961Z,1751053071.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 386.757690 m,
      bearing: 250.177644 deg,
      approach rate: -0.696134 m/s,
      LOS rate: 0.001388 deg/s,
      cmd heading: 246.471829 deg,
      new cmd heading: 246.473743 deg.

2025-06-27T19:37:51.962Z,1751053071.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301778 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:52.079Z,1751053072.079 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:52.079Z,1751053072.079 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:52.080Z,1751053072.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:52.307Z,1751053072.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:52.310Z,1751053072.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 386.493652 m,
      bearing: 250.178163 deg,
      approach rate: -0.755694 m/s,
      LOS rate: 0.001487 deg/s,
      cmd heading: 246.473742 deg,
      new cmd heading: 246.475300 deg.

2025-06-27T19:37:52.311Z,1751053072.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301805 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:52.331Z,1751053072.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255572
2025-06-27T19:37:52.583Z,1751053072.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507557
2025-06-27T19:37:52.833Z,1751053072.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:52.835Z,1751053072.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759684
2025-06-27T19:37:52.837Z,1751053072.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 386.125275 m,
      bearing: 250.178256 deg,
      approach rate: -0.701457 m/s,
      LOS rate: 0.000177 deg/s,
      cmd heading: 246.475299 deg,
      new cmd heading: 246.475578 deg.

2025-06-27T19:37:52.838Z,1751053072.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301810 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:53.088Z,1751053073.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012097
2025-06-27T19:37:53.156Z,1751053073.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:53.174Z,1751053073.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 385.898804 m,
      bearing: 250.178271 deg,
      approach rate: -0.700910 m/s,
      LOS rate: 0.000047 deg/s,
      cmd heading: 246.475572 deg,
      new cmd heading: 246.475618 deg.

2025-06-27T19:37:53.179Z,1751053073.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301811 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:53.340Z,1751053073.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264178
2025-06-27T19:37:53.591Z,1751053073.591 [DAT](INFO): DAT read: Rx Time:19:37:51.9116

2025-06-27T19:37:53.592Z,1751053073.592 [DAT](INFO): Rx dataTimestamp_ set to:1751053073.591517
2025-06-27T19:37:53.592Z,1751053073.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516562
2025-06-27T19:37:53.752Z,1751053073.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 405.70 m.
2025-06-27T19:37:53.755Z,1751053073.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 405.699554 m,
      nav range: 385.486359 m,
      bearing: 250.177597 deg,
      approach rate: -0.691243 m/s,
      LOS rate: -0.001130 deg/s,
      cmd heading: 246.475627 deg,
      new cmd heading: 246.473604 deg.

2025-06-27T19:37:53.756Z,1751053073.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301776 target range: 405.699554 and range: 409.40 m.
2025-06-27T19:37:53.844Z,1751053073.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768493
2025-06-27T19:37:54.104Z,1751053074.104 [DAT](INFO): DAT read: 19:37:51.9117 LVL= 25664, 26993, 25378, 32755, AGC= 72, IDX= 380,-0.10, 2.440, 0.738, 2.253, 1.693, PHS= 0.835,-0.908, 0.557, RAW= 141.5,  -6.0, CAL= 147.3, -15.4, ROT=   2.7,  15.4

2025-06-27T19:37:54.105Z,1751053074.105 [DAT](INFO): got valid direction response:
 19:37:51.9117 LVL= 25664, 26993, 25378, 32755, AGC= 72, IDX= 380,-0.10, 2.440, 0.738, 2.253, 1.693, PHS= 0.835,-0.908, 0.557, RAW= 141.5,  -6.0, CAL= 147.3, -15.4, ROT=   2.7,  15.4

2025-06-27T19:37:54.106Z,1751053074.106 [DAT](INFO): DAT read: Bearing   2.7,  15.4 (Local)

2025-06-27T19:37:54.121Z,1751053074.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  15.4 (Local)

2025-06-27T19:37:54.123Z,1751053074.123 [DAT](INFO): DAT read: Range 10 to 50 : 405.4 m  (Round-trip  540.6 ms) speed  0.3 m/s

2025-06-27T19:37:54.124Z,1751053074.124 [DAT](INFO): DAT read: user:2615>

2025-06-27T19:37:54.124Z,1751053074.124 [DAT](INFO): DAT read: Tx time:19:37:53.0169

2025-06-27T19:37:54.125Z,1751053074.125 [DAT](INFO): Ping request sent.
2025-06-27T19:37:54.125Z,1751053074.125 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:54.125Z,1751053074.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:37:54.126Z,1751053074.126 [DAT](INFO): direction in FSK: [0.963025,0.045415,-0.265556]
2025-06-27T19:37:54.146Z,1751053074.146 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:54.147Z,1751053074.147 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:54.150Z,1751053074.150 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:54.150Z,1751053074.150 [DAT](INFO): publishing direction and range info
2025-06-27T19:37:54.200Z,1751053074.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 405.399994 m,
      deltaT: 4.033289 s,
      deltaX: -4.000000 m,
      approachRate: -0.991746 m/s,
      rangeRepo size: 4

2025-06-27T19:37:54.208Z,1751053074.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 401.735687 m,
      bearing: 250.173960 deg,
      lat: 36.906579 deg,
      lon: -122.116459 deg,
      deltaT: 4.033289 s,
      deltaX: -3.963867 m,
      approachRate: -0.982788 m/s,
      posRepo size: 4

2025-06-27T19:37:54.208Z,1751053074.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:54.219Z,1751053074.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 387.787048 m,
      bearing: 250.315081 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001130 deg/s,
      cmd heading: 246.473605 deg,
      new cmd heading: 246.472088 deg.

2025-06-27T19:37:54.220Z,1751053074.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301749 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:54.348Z,1751053074.348 [DAT](INFO): DAT read: TxSync time:19:37:53.0162

2025-06-27T19:37:54.541Z,1751053074.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:54.551Z,1751053074.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:54.558Z,1751053074.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 387.532410 m,
      bearing: 250.314700 deg,
      approach rate: -0.724051 m/s,
      LOS rate: -0.001084 deg/s,
      cmd heading: 246.472075 deg,
      new cmd heading: 246.470932 deg.

2025-06-27T19:37:54.559Z,1751053074.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301729 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:54.599Z,1751053074.599 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:54.599Z,1751053074.599 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:54.600Z,1751053074.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:54.851Z,1751053074.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.726594
2025-06-27T19:37:54.967Z,1751053074.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:54.970Z,1751053074.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 387.234192 m,
      bearing: 250.313518 deg,
      approach rate: -0.717365 m/s,
      LOS rate: -0.002847 deg/s,
      cmd heading: 246.470928 deg,
      new cmd heading: 246.467377 deg.

2025-06-27T19:37:54.971Z,1751053074.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301667 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:55.104Z,1751053075.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978885
2025-06-27T19:37:55.318Z,1751053075.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:55.321Z,1751053075.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 386.987427 m,
      bearing: 250.312501 deg,
      approach rate: -0.703231 m/s,
      LOS rate: -0.002898 deg/s,
      cmd heading: 246.467376 deg,
      new cmd heading: 246.464326 deg.

2025-06-27T19:37:55.322Z,1751053075.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301614 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:55.355Z,1751053075.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230802
2025-06-27T19:37:55.607Z,1751053075.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482586
2025-06-27T19:37:55.738Z,1751053075.738 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V
2025-06-27T19:37:55.754Z,1751053075.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:55.756Z,1751053075.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 386.681732 m,
      bearing: 250.311222 deg,
      approach rate: -0.702078 m/s,
      LOS rate: -0.002940 deg/s,
      cmd heading: 246.464316 deg,
      new cmd heading: 246.460475 deg.

2025-06-27T19:37:55.757Z,1751053075.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301547 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:55.860Z,1751053075.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735538
2025-06-27T19:37:56.112Z,1751053076.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986814
2025-06-27T19:37:56.136Z,1751053076.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:56.143Z,1751053076.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 386.421051 m,
      bearing: 250.310104 deg,
      approach rate: -0.681147 m/s,
      LOS rate: -0.002924 deg/s,
      cmd heading: 246.460464 deg,
      new cmd heading: 246.457107 deg.

2025-06-27T19:37:56.144Z,1751053076.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301488 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:56.363Z,1751053076.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238556
2025-06-27T19:37:56.541Z,1751053076.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:56.544Z,1751053076.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:56.547Z,1751053076.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 386.126465 m,
      bearing: 250.308818 deg,
      approach rate: -0.722895 m/s,
      LOS rate: -0.003158 deg/s,
      cmd heading: 246.457104 deg,
      new cmd heading: 246.453243 deg.

2025-06-27T19:37:56.548Z,1751053076.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301421 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:56.617Z,1751053076.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492485
2025-06-27T19:37:56.872Z,1751053076.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747160
2025-06-27T19:37:56.966Z,1751053076.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:56.973Z,1751053076.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 385.824890 m,
      bearing: 250.307795 deg,
      approach rate: -0.714184 m/s,
      LOS rate: -0.002424 deg/s,
      cmd heading: 246.453251 deg,
      new cmd heading: 246.450180 deg.

2025-06-27T19:37:56.974Z,1751053076.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301367 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:57.123Z,1751053077.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998625
2025-06-27T19:37:57.355Z,1751053077.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:57.357Z,1751053077.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 385.524902 m,
      bearing: 250.306776 deg,
      approach rate: -0.772621 m/s,
      LOS rate: -0.002627 deg/s,
      cmd heading: 246.450191 deg,
      new cmd heading: 246.447132 deg.

2025-06-27T19:37:57.358Z,1751053077.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301314 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:57.377Z,1751053077.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251828
2025-06-27T19:37:57.627Z,1751053077.627 [DAT](INFO): DAT read: Rx Time:19:37:55.9594

2025-06-27T19:37:57.628Z,1751053077.628 [DAT](INFO): Rx dataTimestamp_ set to:1751053077.627609
2025-06-27T19:37:57.628Z,1751053077.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503733
2025-06-27T19:37:57.796Z,1751053077.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:57.799Z,1751053077.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 385.184509 m,
      bearing: 250.306269 deg,
      approach rate: -0.770957 m/s,
      LOS rate: -0.001150 deg/s,
      cmd heading: 246.447132 deg,
      new cmd heading: 246.445608 deg.

2025-06-27T19:37:57.800Z,1751053077.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301287 target range: 401.735687 and range: 405.40 m.
2025-06-27T19:37:57.880Z,1751053077.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755467
2025-06-27T19:37:58.132Z,1751053078.132 [DAT](INFO): DAT read: Range 10 to 50 : 403.7 m  (Round-trip  538.3 ms) speed  0.6 m/s

2025-06-27T19:37:58.133Z,1751053078.133 [DAT](INFO): DAT read: user:2616>

2025-06-27T19:37:58.134Z,1751053078.134 [DAT](INFO): DAT read: Tx time:19:37:57.0669

2025-06-27T19:37:58.134Z,1751053078.134 [DAT](INFO): Ping request sent.
2025-06-27T19:37:58.134Z,1751053078.134 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:37:58.135Z,1751053078.135 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:37:58.135Z,1751053078.135 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:58.136Z,1751053078.136 [DAT](INFO): publishing transmit ping time
2025-06-27T19:37:58.150Z,1751053078.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 403.700012 m,
      deltaT: 4.034633 s,
      deltaX: -1.699982 m,
      approachRate: -0.421347 m/s,
      rangeRepo size: 4

2025-06-27T19:37:58.151Z,1751053078.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:58.154Z,1751053078.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 384.911713 m,
      bearing: 250.305900 deg,
      approach rate: -0.771388 m/s,
      LOS rate: -0.001044 deg/s,
      cmd heading: 246.445602 deg,
      new cmd heading: 246.444494 deg.

2025-06-27T19:37:58.155Z,1751053078.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301268 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:37:58.384Z,1751053078.384 [DAT](INFO): DAT read: TxSync time:19:37:57.0662

2025-06-27T19:37:58.567Z,1751053078.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:37:58.569Z,1751053078.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:58.572Z,1751053078.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 384.588501 m,
      bearing: 250.305476 deg,
      approach rate: -0.770535 m/s,
      LOS rate: -0.001011 deg/s,
      cmd heading: 246.444481 deg,
      new cmd heading: 246.443209 deg.

2025-06-27T19:37:58.573Z,1751053078.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301245 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:37:58.635Z,1751053078.635 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:37:58.635Z,1751053078.635 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:37:58.636Z,1751053078.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:37:58.887Z,1751053078.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752788
2025-06-27T19:37:58.976Z,1751053078.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:58.996Z,1751053078.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 384.270721 m,
      bearing: 250.305499 deg,
      approach rate: -0.781376 m/s,
      LOS rate: 0.000056 deg/s,
      cmd heading: 246.443197 deg,
      new cmd heading: 246.443266 deg.

2025-06-27T19:37:58.997Z,1751053078.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301246 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:37:59.139Z,1751053079.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004817
2025-06-27T19:37:59.375Z,1751053079.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:59.377Z,1751053079.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 383.974701 m,
      bearing: 250.305559 deg,
      approach rate: -0.742016 m/s,
      LOS rate: 0.000152 deg/s,
      cmd heading: 246.443252 deg,
      new cmd heading: 246.443434 deg.

2025-06-27T19:37:59.383Z,1751053079.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301250 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:37:59.391Z,1751053079.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256930
2025-06-27T19:37:59.644Z,1751053079.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509626
2025-06-27T19:37:59.822Z,1751053079.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:37:59.825Z,1751053079.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 383.605316 m,
      bearing: 250.307310 deg,
      approach rate: -0.826364 m/s,
      LOS rate: 0.003919 deg/s,
      cmd heading: 246.443443 deg,
      new cmd heading: 246.448699 deg.

2025-06-27T19:37:59.826Z,1751053079.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301341 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:37:59.896Z,1751053079.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760972
2025-06-27T19:38:00.147Z,1751053080.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012860
2025-06-27T19:38:00.166Z,1751053080.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:38:00.169Z,1751053080.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 383.333038 m,
      bearing: 250.308560 deg,
      approach rate: -0.791105 m/s,
      LOS rate: 0.003634 deg/s,
      cmd heading: 246.448689 deg,
      new cmd heading: 246.452441 deg.

2025-06-27T19:38:00.170Z,1751053080.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301406 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:38:00.400Z,1751053080.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265066
2025-06-27T19:38:00.577Z,1751053080.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:00.580Z,1751053080.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:38:00.583Z,1751053080.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 383.005554 m,
      bearing: 250.310065 deg,
      approach rate: -0.790910 m/s,
      LOS rate: 0.003640 deg/s,
      cmd heading: 246.452432 deg,
      new cmd heading: 246.456953 deg.

2025-06-27T19:38:00.584Z,1751053080.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301485 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:38:00.653Z,1751053080.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518245
2025-06-27T19:38:00.903Z,1751053080.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768762
2025-06-27T19:38:01.016Z,1751053081.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:38:01.025Z,1751053081.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 382.673309 m,
      bearing: 250.311935 deg,
      approach rate: -0.761727 m/s,
      LOS rate: 0.004290 deg/s,
      cmd heading: 246.456940 deg,
      new cmd heading: 246.462553 deg.

2025-06-27T19:38:01.026Z,1751053081.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301583 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:38:01.155Z,1751053081.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020800
2025-06-27T19:38:01.395Z,1751053081.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:38:01.398Z,1751053081.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 382.363556 m,
      bearing: 250.313645 deg,
      approach rate: -0.816488 m/s,
      LOS rate: 0.004512 deg/s,
      cmd heading: 246.462540 deg,
      new cmd heading: 246.467676 deg.

2025-06-27T19:38:01.399Z,1751053081.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301672 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:38:01.407Z,1751053081.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272913
2025-06-27T19:38:01.659Z,1751053081.659 [DAT](INFO): DAT read: Rx Time:19:37:59.9911

2025-06-27T19:38:01.660Z,1751053081.660 [DAT](INFO): Rx dataTimestamp_ set to:1751053081.659542
2025-06-27T19:38:01.660Z,1751053081.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525827
2025-06-27T19:38:01.885Z,1751053081.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 401.74 m.
2025-06-27T19:38:01.911Z,1751053081.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776861
2025-06-27T19:38:01.914Z,1751053081.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 401.735687 m,
      nav range: 381.985443 m,
      bearing: 250.316358 deg,
      approach rate: -0.772666 m/s,
      LOS rate: 0.005548 deg/s,
      cmd heading: 246.467677 deg,
      new cmd heading: 246.475822 deg.

2025-06-27T19:38:01.919Z,1751053081.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301815 target range: 401.735687 and range: 403.70 m.
2025-06-27T19:38:02.170Z,1751053082.170 [DAT](INFO): DAT read: 19:37:59.9911 LVL= 25312, 25777, 23986, 27507, AGC= 75, IDX= 384,-0.01,-2.684, 2.135,-2.773, 2.958, PHS= 0.730,-0.776, 0.549, RAW= 143.7,  -7.1, CAL= 149.8, -16.2, ROT=   0.2,  16.2

2025-06-27T19:38:02.171Z,1751053082.171 [DAT](INFO): got valid direction response:
 19:37:59.9911 LVL= 25312, 25777, 23986, 27507, AGC= 75, IDX= 384,-0.01,-2.684, 2.135,-2.773, 2.958, PHS= 0.730,-0.776, 0.549, RAW= 143.7,  -7.1, CAL= 149.8, -16.2, ROT=   0.2,  16.2

2025-06-27T19:38:02.172Z,1751053082.172 [DAT](INFO): DAT read: Bearing   0.2,  16.2 (Local)

2025-06-27T19:38:02.172Z,1751053082.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  16.2 (Local)

2025-06-27T19:38:02.174Z,1751053082.174 [DAT](INFO): DAT read: Range 10 to 50 : 390.0 m  (Round-trip  520.0 ms) speed  0.9 m/s

2025-06-27T19:38:02.175Z,1751053082.175 [DAT](INFO): DAT read: user:2617>

2025-06-27T19:38:02.176Z,1751053082.176 [DAT](INFO): DAT read: Tx time:19:38:01.0669

2025-06-27T19:38:02.176Z,1751053082.176 [DAT](INFO): Ping request sent.
2025-06-27T19:38:02.176Z,1751053082.176 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:02.176Z,1751053082.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:02.177Z,1751053082.177 [DAT](INFO): direction in FSK: [0.960288,0.003352,-0.278991]
2025-06-27T19:38:02.177Z,1751053082.177 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:02.178Z,1751053082.178 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:02.201Z,1751053082.201 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:02.201Z,1751053082.201 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:02.288Z,1751053082.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 390.000000 m,
      deltaT: 4.032640 s,
      deltaX: -13.700012 m,
      approachRate: -3.397281 m/s,
      rangeRepo size: 4

2025-06-27T19:38:02.295Z,1751053082.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 386.474365 m,
      bearing: 247.875556 deg,
      lat: 36.906568 deg,
      lon: -122.116459 deg,
      deltaT: 8.067273 s,
      deltaX: -15.261322 m,
      approachRate: -1.891757 m/s,
      posRepo size: 4

2025-06-27T19:38:02.303Z,1751053082.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:02.306Z,1751053082.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 382.099487 m,
      bearing: 250.143589 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005548 deg/s,
      cmd heading: 246.475818 deg,
      new cmd heading: 246.482527 deg.

2025-06-27T19:38:02.315Z,1751053082.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301932 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:02.416Z,1751053082.416 [DAT](INFO): DAT read: TxSync time:19:38:01.0662

2025-06-27T19:38:02.624Z,1751053082.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:02.627Z,1751053082.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:02.629Z,1751053082.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 381.827637 m,
      bearing: 250.145391 deg,
      approach rate: -0.802125 m/s,
      LOS rate: 0.005320 deg/s,
      cmd heading: 246.482539 deg,
      new cmd heading: 246.487948 deg.

2025-06-27T19:38:02.651Z,1751053082.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302026 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:02.667Z,1751053082.667 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:02.667Z,1751053082.667 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:02.668Z,1751053082.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:02.919Z,1751053082.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743382
2025-06-27T19:38:03.040Z,1751053083.040 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711391057,35.0, +10.0,   0.0,1490.:RA,  0.00,  79.40,  72.28,  77.03,  73.97
2025-06-27T19:38:03.056Z,1751053083.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:03.059Z,1751053083.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 381.497833 m,
      bearing: 250.147692 deg,
      approach rate: -0.767713 m/s,
      LOS rate: 0.005362 deg/s,
      cmd heading: 246.487949 deg,
      new cmd heading: 246.494859 deg.

2025-06-27T19:38:03.060Z,1751053083.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302147 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:03.175Z,1751053083.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998860
2025-06-27T19:38:03.423Z,1751053083.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247259
2025-06-27T19:38:03.479Z,1751053083.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:03.481Z,1751053083.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 381.172974 m,
      bearing: 250.149934 deg,
      approach rate: -0.769536 m/s,
      LOS rate: 0.005315 deg/s,
      cmd heading: 246.494861 deg,
      new cmd heading: 246.501591 deg.

2025-06-27T19:38:03.482Z,1751053083.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302264 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:03.675Z,1751053083.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499343
2025-06-27T19:38:03.904Z,1751053083.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:03.911Z,1751053083.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 380.867432 m,
      bearing: 250.151363 deg,
      approach rate: -0.717055 m/s,
      LOS rate: 0.003357 deg/s,
      cmd heading: 246.501582 deg,
      new cmd heading: 246.505873 deg.

2025-06-27T19:38:03.912Z,1751053083.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302339 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:03.927Z,1751053083.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751387
2025-06-27T19:38:04.179Z,1751053084.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003341
2025-06-27T19:38:04.265Z,1751053084.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:04.268Z,1751053084.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 380.589386 m,
      bearing: 250.152666 deg,
      approach rate: -0.770865 m/s,
      LOS rate: 0.003614 deg/s,
      cmd heading: 246.505871 deg,
      new cmd heading: 246.509782 deg.

2025-06-27T19:38:04.269Z,1751053084.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302407 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:04.433Z,1751053084.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256708
2025-06-27T19:38:04.661Z,1751053084.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:04.667Z,1751053084.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:04.669Z,1751053084.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 380.283844 m,
      bearing: 250.154010 deg,
      approach rate: -0.768696 m/s,
      LOS rate: 0.003385 deg/s,
      cmd heading: 246.509778 deg,
      new cmd heading: 246.513814 deg.

2025-06-27T19:38:04.675Z,1751053084.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302478 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:04.683Z,1751053084.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507475
2025-06-27T19:38:04.936Z,1751053084.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759719
2025-06-27T19:38:05.074Z,1751053085.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:05.077Z,1751053085.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 379.979218 m,
      bearing: 250.154719 deg,
      approach rate: -0.740373 m/s,
      LOS rate: 0.001725 deg/s,
      cmd heading: 246.513821 deg,
      new cmd heading: 246.515951 deg.

2025-06-27T19:38:05.078Z,1751053085.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302515 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:05.187Z,1751053085.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011507
2025-06-27T19:38:05.439Z,1751053085.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263423
2025-06-27T19:38:05.450Z,1751053085.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:05.453Z,1751053085.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 379.708649 m,
      bearing: 250.155332 deg,
      approach rate: -0.720493 m/s,
      LOS rate: 0.001632 deg/s,
      cmd heading: 246.515953 deg,
      new cmd heading: 246.517791 deg.

2025-06-27T19:38:05.454Z,1751053085.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302547 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:05.693Z,1751053085.693 [DAT](INFO): DAT read: Rx Time:19:38:04.0003

2025-06-27T19:38:05.693Z,1751053085.693 [DAT](INFO): Rx dataTimestamp_ set to:1751053085.693014
2025-06-27T19:38:05.694Z,1751053085.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517868
2025-06-27T19:38:05.910Z,1751053085.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 386.47 m.
2025-06-27T19:38:05.935Z,1751053085.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 386.474365 m,
      nav range: 379.374054 m,
      bearing: 250.155911 deg,
      approach rate: -0.727238 m/s,
      LOS rate: 0.001261 deg/s,
      cmd heading: 246.517783 deg,
      new cmd heading: 246.519523 deg.

2025-06-27T19:38:05.938Z,1751053085.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302577 target range: 386.474365 and range: 390.00 m.
2025-06-27T19:38:05.943Z,1751053085.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767492
2025-06-27T19:38:06.201Z,1751053086.201 [DAT](INFO): DAT read: 19:38:04.0003 LVL= 18112, 19873, 17650, 18339, AGC= 72, IDX=  23, 0.28, 3.060, 1.724, 2.930, 2.447, PHS= 0.702,-0.676, 0.481, RAW= 141.4,  -8.0, CAL= 147.8, -17.5, ROT=   2.2,  17.5

2025-06-27T19:38:06.203Z,1751053086.203 [DAT](INFO): got valid direction response:
 19:38:04.0003 LVL= 18112, 19873, 17650, 18339, AGC= 72, IDX=  23, 0.28, 3.060, 1.724, 2.930, 2.447, PHS= 0.702,-0.676, 0.481, RAW= 141.4,  -8.0, CAL= 147.8, -17.5, ROT=   2.2,  17.5

2025-06-27T19:38:06.203Z,1751053086.203 [DAT](INFO): DAT read: Bearing   2.2,  17.5 (Local)

2025-06-27T19:38:06.204Z,1751053086.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  17.5 (Local)

2025-06-27T19:38:06.205Z,1751053086.205 [DAT](INFO): DAT read: Range 10 to 50 : 396.8 m  (Round-trip  529.1 ms) speed  0.4 m/s

2025-06-27T19:38:06.206Z,1751053086.206 [DAT](INFO): DAT read: user:2618>

2025-06-27T19:38:06.207Z,1751053086.207 [DAT](INFO): DAT read: Tx time:19:38:05.1170

2025-06-27T19:38:06.207Z,1751053086.207 [DAT](INFO): Ping request sent.
2025-06-27T19:38:06.207Z,1751053086.207 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:06.208Z,1751053086.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:06.209Z,1751053086.209 [DAT](INFO): direction in FSK: [0.953014,0.036611,-0.300706]
2025-06-27T19:38:06.209Z,1751053086.209 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:06.209Z,1751053086.209 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:06.213Z,1751053086.213 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:06.213Z,1751053086.213 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:06.448Z,1751053086.448 [DAT](INFO): DAT read: TxSync time:19:38:05.1163

2025-06-27T19:38:06.505Z,1751053086.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 396.799988 m,
      deltaT: 4.031261 s,
      deltaX: 6.799988 m,
      approachRate: 1.686814 m/s,
      rangeRepo size: 4

2025-06-27T19:38:06.511Z,1751053086.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 393.212494 m,
      bearing: 250.211552 deg,
      lat: 36.906568 deg,
      lon: -122.116428 deg,
      deltaT: 4.031261 s,
      deltaX: 6.738129 m,
      approachRate: 1.671469 m/s,
      posRepo size: 4

2025-06-27T19:38:06.512Z,1751053086.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:06.519Z,1751053086.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 376.363464 m,
      bearing: 250.014260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001261 deg/s,
      cmd heading: 246.519532 deg,
      new cmd heading: 246.521781 deg.

2025-06-27T19:38:06.520Z,1751053086.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302617 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:06.912Z,1751053086.912 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711391463,35.0,  +9.91489.8,  0
2025-06-27T19:38:06.925Z,1751053086.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:06.944Z,1751053086.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:06.951Z,1751053086.951 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:06.951Z,1751053086.951 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:06.952Z,1751053086.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:06.953Z,1751053086.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 376.048981 m,
      bearing: 250.014713 deg,
      approach rate: -0.715984 m/s,
      LOS rate: 0.001032 deg/s,
      cmd heading: 246.521772 deg,
      new cmd heading: 246.523132 deg.

2025-06-27T19:38:06.959Z,1751053086.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302640 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:07.203Z,1751053087.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996042
2025-06-27T19:38:07.321Z,1751053087.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:07.325Z,1751053087.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 375.763702 m,
      bearing: 250.015144 deg,
      approach rate: -0.755138 m/s,
      LOS rate: 0.001142 deg/s,
      cmd heading: 246.523138 deg,
      new cmd heading: 246.524432 deg.

2025-06-27T19:38:07.326Z,1751053087.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302663 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:07.455Z,1751053087.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247924
2025-06-27T19:38:07.660Z,1751053087.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:07.663Z,1751053087.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 375.518890 m,
      bearing: 250.015515 deg,
      approach rate: -0.723032 m/s,
      LOS rate: 0.001096 deg/s,
      cmd heading: 246.524422 deg,
      new cmd heading: 246.525536 deg.

2025-06-27T19:38:07.664Z,1751053087.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302682 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:07.707Z,1751053087.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499967
2025-06-27T19:38:07.959Z,1751053087.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751874
2025-06-27T19:38:08.086Z,1751053088.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:08.088Z,1751053088.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 375.226227 m,
      bearing: 250.015053 deg,
      approach rate: -0.687582 m/s,
      LOS rate: -0.001086 deg/s,
      cmd heading: 246.525542 deg,
      new cmd heading: 246.524155 deg.

2025-06-27T19:38:08.089Z,1751053088.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302658 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:08.212Z,1751053088.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004404
2025-06-27T19:38:08.463Z,1751053088.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256033
2025-06-27T19:38:08.474Z,1751053088.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:08.477Z,1751053088.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 374.959534 m,
      bearing: 250.014563 deg,
      approach rate: -0.686783 m/s,
      LOS rate: -0.001263 deg/s,
      cmd heading: 246.524149 deg,
      new cmd heading: 246.522678 deg.

2025-06-27T19:38:08.478Z,1751053088.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302632 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:08.715Z,1751053088.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507934
2025-06-27T19:38:08.931Z,1751053088.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:08.933Z,1751053088.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:08.940Z,1751053088.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 374.682159 m,
      bearing: 250.014053 deg,
      approach rate: -0.603644 m/s,
      LOS rate: -0.001112 deg/s,
      cmd heading: 246.522673 deg,
      new cmd heading: 246.521141 deg.

2025-06-27T19:38:08.941Z,1751053088.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302606 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:08.968Z,1751053088.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760137
2025-06-27T19:38:09.219Z,1751053089.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012013
2025-06-27T19:38:09.283Z,1751053089.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:09.286Z,1751053089.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 374.401917 m,
      bearing: 250.012802 deg,
      approach rate: -0.801775 m/s,
      LOS rate: -0.003581 deg/s,
      cmd heading: 246.521143 deg,
      new cmd heading: 246.517389 deg.

2025-06-27T19:38:09.287Z,1751053089.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302540 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:09.471Z,1751053089.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264034
2025-06-27T19:38:09.660Z,1751053089.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:09.663Z,1751053089.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 374.141449 m,
      bearing: 250.011607 deg,
      approach rate: -0.690674 m/s,
      LOS rate: -0.003170 deg/s,
      cmd heading: 246.517401 deg,
      new cmd heading: 246.513814 deg.

2025-06-27T19:38:09.664Z,1751053089.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302478 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:09.724Z,1751053089.724 [DAT](INFO): DAT read: Rx Time:19:38:08.0471

2025-06-27T19:38:09.724Z,1751053089.724 [DAT](INFO): Rx dataTimestamp_ set to:1751053089.723811
2025-06-27T19:38:09.725Z,1751053089.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517264
2025-06-27T19:38:09.975Z,1751053089.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768019
2025-06-27T19:38:10.096Z,1751053090.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 393.21 m.
2025-06-27T19:38:10.099Z,1751053090.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 393.212494 m,
      nav range: 373.836639 m,
      bearing: 250.010967 deg,
      approach rate: -0.699162 m/s,
      LOS rate: -0.001470 deg/s,
      cmd heading: 246.513821 deg,
      new cmd heading: 246.511899 deg.

2025-06-27T19:38:10.100Z,1751053090.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302444 target range: 393.212494 and range: 396.80 m.
2025-06-27T19:38:10.237Z,1751053090.237 [DAT](INFO): DAT read: 19:38:08.0471 LVL= 23760, 20577, 20642, 29171, AGC= 72, IDX= 406, 0.00, 0.201,-1.292, 0.115,-0.491, PHS= 0.780,-0.754, 0.603, RAW= 143.9,  -8.7, CAL= 150.5, -17.7, ROT= 359.5,  17.7

2025-06-27T19:38:10.239Z,1751053090.239 [DAT](INFO): got valid direction response:
 19:38:08.0471 LVL= 23760, 20577, 20642, 29171, AGC= 72, IDX= 406, 0.00, 0.201,-1.292, 0.115,-0.491, PHS= 0.780,-0.754, 0.603, RAW= 143.9,  -8.7, CAL= 150.5, -17.7, ROT= 359.5,  17.7

2025-06-27T19:38:10.240Z,1751053090.240 [DAT](INFO): DAT read: Bearing 359.5,  17.7 (Local)

2025-06-27T19:38:10.241Z,1751053090.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  17.7 (Local)

2025-06-27T19:38:10.251Z,1751053090.251 [DAT](INFO): DAT read: Range 10 to 50 : 394.4 m  (Round-trip  525.9 ms) speed  0.6 m/s

2025-06-27T19:38:10.251Z,1751053090.251 [DAT](INFO): DAT read: user:2619>

2025-06-27T19:38:10.252Z,1751053090.252 [DAT](INFO): DAT read: Tx time:19:38:09.1670

2025-06-27T19:38:10.252Z,1751053090.252 [DAT](INFO): Ping request sent.
2025-06-27T19:38:10.253Z,1751053090.253 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:10.253Z,1751053090.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:10.254Z,1751053090.254 [DAT](INFO): direction in FSK: [0.952625,-0.008313,-0.304033]
2025-06-27T19:38:10.254Z,1751053090.254 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:10.259Z,1751053090.259 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:10.262Z,1751053090.262 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:10.262Z,1751053090.262 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:10.480Z,1751053090.480 [DAT](INFO): DAT read: TxSync time:19:38:09.1663

2025-06-27T19:38:10.491Z,1751053090.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 394.399994 m,
      deltaT: 4.032119 s,
      deltaX: -2.399994 m,
      approachRate: -0.595219 m/s,
      rangeRepo size: 4

2025-06-27T19:38:10.493Z,1751053090.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 390.833405 m,
      bearing: 247.787855 deg,
      lat: 36.906483 deg,
      lon: -122.116397 deg,
      deltaT: 4.032119 s,
      deltaX: -2.379089 m,
      approachRate: -0.590034 m/s,
      posRepo size: 4

2025-06-27T19:38:10.494Z,1751053090.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:10.501Z,1751053090.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 374.372223 m,
      bearing: 248.496867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001470 deg/s,
      cmd heading: 246.511909 deg,
      new cmd heading: 246.510188 deg.

2025-06-27T19:38:10.502Z,1751053090.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302414 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:10.941Z,1751053090.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:10.963Z,1751053090.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:10.966Z,1751053090.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 374.073730 m,
      bearing: 248.495024 deg,
      approach rate: -0.633433 m/s,
      LOS rate: -0.003914 deg/s,
      cmd heading: 246.510188 deg,
      new cmd heading: 246.504655 deg.

2025-06-27T19:38:10.971Z,1751053090.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302318 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:10.983Z,1751053090.983 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:10.983Z,1751053090.983 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:10.983Z,1751053090.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:11.235Z,1751053091.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982770
2025-06-27T19:38:11.321Z,1751053091.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:11.324Z,1751053091.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 373.768616 m,
      bearing: 248.492432 deg,
      approach rate: -0.840178 m/s,
      LOS rate: -0.007143 deg/s,
      cmd heading: 246.504642 deg,
      new cmd heading: 246.496860 deg.

2025-06-27T19:38:11.325Z,1751053091.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302182 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:11.487Z,1751053091.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234694
2025-06-27T19:38:11.695Z,1751053091.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:11.698Z,1751053091.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 373.499207 m,
      bearing: 248.490126 deg,
      approach rate: -0.719109 m/s,
      LOS rate: -0.006160 deg/s,
      cmd heading: 246.496855 deg,
      new cmd heading: 246.489932 deg.

2025-06-27T19:38:11.699Z,1751053091.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302061 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:11.740Z,1751053091.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486975
2025-06-27T19:38:11.871Z,1751053091.871 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:38:11.992Z,1751053091.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739542
2025-06-27T19:38:12.123Z,1751053092.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:12.126Z,1751053092.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 373.179810 m,
      bearing: 248.488086 deg,
      approach rate: -0.746140 m/s,
      LOS rate: -0.004770 deg/s,
      cmd heading: 246.489943 deg,
      new cmd heading: 246.483818 deg.

2025-06-27T19:38:12.127Z,1751053092.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301954 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:12.243Z,1751053092.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990767
2025-06-27T19:38:12.495Z,1751053092.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242573
2025-06-27T19:38:12.512Z,1751053092.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:12.515Z,1751053092.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 372.890625 m,
      bearing: 248.486219 deg,
      approach rate: -0.744287 m/s,
      LOS rate: -0.004808 deg/s,
      cmd heading: 246.483823 deg,
      new cmd heading: 246.478220 deg.

2025-06-27T19:38:12.516Z,1751053092.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301857 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:12.747Z,1751053092.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494871
2025-06-27T19:38:12.875Z,1751053092.875 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:38:12.912Z,1751053092.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:12.915Z,1751053092.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 372.595734 m,
      bearing: 248.484291 deg,
      approach rate: -0.736507 m/s,
      LOS rate: -0.004819 deg/s,
      cmd heading: 246.478223 deg,
      new cmd heading: 246.472434 deg.

2025-06-27T19:38:12.916Z,1751053092.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301755 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:12.000Z,1751053093.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747221
2025-06-27T19:38:13.251Z,1751053093.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998664
2025-06-27T19:38:13.333Z,1751053093.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:13.336Z,1751053093.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:13.363Z,1751053093.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 372.263123 m,
      bearing: 248.482519 deg,
      approach rate: -0.786021 m/s,
      LOS rate: -0.004193 deg/s,
      cmd heading: 246.472431 deg,
      new cmd heading: 246.467108 deg.

2025-06-27T19:38:13.364Z,1751053093.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301662 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:13.503Z,1751053093.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250732
2025-06-27T19:38:13.726Z,1751053093.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:13.728Z,1751053093.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 371.958405 m,
      bearing: 248.480879 deg,
      approach rate: -0.781280 m/s,
      LOS rate: -0.004207 deg/s,
      cmd heading: 246.467103 deg,
      new cmd heading: 246.462180 deg.

2025-06-27T19:38:13.729Z,1751053093.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301577 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:13.755Z,1751053093.755 [DAT](INFO): DAT read: Rx Time:19:38:12.0937

2025-06-27T19:38:13.756Z,1751053093.756 [DAT](INFO): Rx dataTimestamp_ set to:1751053093.755657
2025-06-27T19:38:13.756Z,1751053093.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503894
2025-06-27T19:38:14.008Z,1751053094.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755376
2025-06-27T19:38:14.157Z,1751053094.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.83 m.
2025-06-27T19:38:14.163Z,1751053094.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 390.833405 m,
      nav range: 371.639374 m,
      bearing: 248.479101 deg,
      approach rate: -0.740231 m/s,
      LOS rate: -0.004129 deg/s,
      cmd heading: 246.462185 deg,
      new cmd heading: 246.456847 deg.

2025-06-27T19:38:14.164Z,1751053094.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301484 target range: 390.833405 and range: 394.40 m.
2025-06-27T19:38:14.265Z,1751053094.265 [DAT](INFO): DAT read: 19:38:12.0937 LVL= 27440, 29553, 29074, 32755, AGC= 72, IDX= 402, 0.11,-1.847, 2.999,-1.947,-2.499, PHS= 0.741,-0.738, 0.549, RAW= 143.2,  -8.0, CAL= 149.6, -17.2, ROT=   0.4,  17.2

2025-06-27T19:38:14.267Z,1751053094.267 [DAT](INFO): got valid direction response:
 19:38:12.0937 LVL= 27440, 29553, 29074, 32755, AGC= 72, IDX= 402, 0.11,-1.847, 2.999,-1.947,-2.499, PHS= 0.741,-0.738, 0.549, RAW= 143.2,  -8.0, CAL= 149.6, -17.2, ROT=   0.4,  17.2

2025-06-27T19:38:14.268Z,1751053094.268 [DAT](INFO): DAT read: Bearing   0.4,  17.2 (Local)

2025-06-27T19:38:14.268Z,1751053094.268 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  17.2 (Local)

2025-06-27T19:38:14.269Z,1751053094.269 [DAT](INFO): DAT read: Range 10 to 50 : 391.8 m  (Round-trip  522.5 ms) speed  0.5 m/s

2025-06-27T19:38:14.270Z,1751053094.270 [DAT](INFO): DAT read: user:2620>

2025-06-27T19:38:14.271Z,1751053094.271 [DAT](INFO): DAT read: Tx time:19:38:13.2170

2025-06-27T19:38:14.271Z,1751053094.271 [DAT](INFO): Ping request sent.
2025-06-27T19:38:14.271Z,1751053094.271 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:14.272Z,1751053094.272 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:14.273Z,1751053094.273 [DAT](INFO): direction in FSK: [0.955255,0.006669,-0.295708]
2025-06-27T19:38:14.273Z,1751053094.273 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:14.273Z,1751053094.273 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:14.295Z,1751053094.295 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:14.295Z,1751053094.295 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:14.511Z,1751053094.511 [DAT](INFO): DAT read: TxSync time:19:38:13.2163

2025-06-27T19:38:14.589Z,1751053094.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 391.799988 m,
      deltaT: 4.032026 s,
      deltaX: -2.600006 m,
      approachRate: -0.644839 m/s,
      rangeRepo size: 4

2025-06-27T19:38:14.596Z,1751053094.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 388.255890 m,
      bearing: 248.267140 deg,
      lat: 36.906484 deg,
      lon: -122.116352 deg,
      deltaT: 4.032026 s,
      deltaX: -2.577515 m,
      approachRate: -0.639260 m/s,
      posRepo size: 4

2025-06-27T19:38:14.596Z,1751053094.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:14.604Z,1751053094.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 367.540710 m,
      bearing: 248.268452 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004129 deg/s,
      cmd heading: 246.456858 deg,
      new cmd heading: 246.451507 deg.

2025-06-27T19:38:14.605Z,1751053094.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301390 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:14.940Z,1751053094.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:14.943Z,1751053094.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 367.255127 m,
      bearing: 248.266799 deg,
      approach rate: -0.811944 m/s,
      LOS rate: -0.004702 deg/s,
      cmd heading: 246.451503 deg,
      new cmd heading: 246.446542 deg.

2025-06-27T19:38:14.944Z,1751053094.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301303 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:15.377Z,1751053095.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:15.380Z,1751053095.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:15.383Z,1751053095.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 366.903778 m,
      bearing: 248.265676 deg,
      approach rate: -0.799621 m/s,
      LOS rate: -0.002558 deg/s,
      cmd heading: 246.446530 deg,
      new cmd heading: 246.443158 deg.

2025-06-27T19:38:15.384Z,1751053095.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301245 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:15.524Z,1751053095.524 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:15.524Z,1751053095.524 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:15.524Z,1751053095.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:15.760Z,1751053095.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:15.763Z,1751053095.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 366.601868 m,
      bearing: 248.265123 deg,
      approach rate: -0.793931 m/s,
      LOS rate: -0.001456 deg/s,
      cmd heading: 246.443170 deg,
      new cmd heading: 246.441509 deg.

2025-06-27T19:38:15.764Z,1751053095.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301216 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:15.775Z,1751053095.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503988
2025-06-27T19:38:16.027Z,1751053096.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755939
2025-06-27T19:38:16.186Z,1751053096.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:16.192Z,1751053096.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 366.279205 m,
      bearing: 248.264753 deg,
      approach rate: -0.758256 m/s,
      LOS rate: -0.000870 deg/s,
      cmd heading: 246.441503 deg,
      new cmd heading: 246.440393 deg.

2025-06-27T19:38:16.193Z,1751053096.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301196 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:16.281Z,1751053096.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009137
2025-06-27T19:38:16.531Z,1751053096.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259956
2025-06-27T19:38:16.602Z,1751053096.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:16.605Z,1751053096.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 365.944275 m,
      bearing: 248.264364 deg,
      approach rate: -0.811370 m/s,
      LOS rate: -0.000944 deg/s,
      cmd heading: 246.440383 deg,
      new cmd heading: 246.439214 deg.

2025-06-27T19:38:16.606Z,1751053096.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301176 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:16.783Z,1751053096.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511986
2025-06-27T19:38:16.955Z,1751053096.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:16.957Z,1751053096.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 365.650513 m,
      bearing: 248.264030 deg,
      approach rate: -0.824704 m/s,
      LOS rate: -0.000937 deg/s,
      cmd heading: 246.439208 deg,
      new cmd heading: 246.438207 deg.

2025-06-27T19:38:16.958Z,1751053096.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301158 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:17.040Z,1751053097.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768532
2025-06-27T19:38:17.287Z,1751053097.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015924
2025-06-27T19:38:17.402Z,1751053097.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:17.404Z,1751053097.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:17.407Z,1751053097.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 365.296417 m,
      bearing: 248.263645 deg,
      approach rate: -0.787603 m/s,
      LOS rate: -0.000857 deg/s,
      cmd heading: 246.438198 deg,
      new cmd heading: 246.437041 deg.

2025-06-27T19:38:17.408Z,1751053097.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301138 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:17.539Z,1751053097.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267912
2025-06-27T19:38:17.764Z,1751053097.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:17.767Z,1751053097.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 365.012329 m,
      bearing: 248.263338 deg,
      approach rate: -0.789796 m/s,
      LOS rate: -0.000854 deg/s,
      cmd heading: 246.437050 deg,
      new cmd heading: 246.436129 deg.

2025-06-27T19:38:17.768Z,1751053097.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301122 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:17.791Z,1751053097.791 [DAT](INFO): DAT read: Rx Time:19:38:16.1391

2025-06-27T19:38:17.792Z,1751053097.792 [DAT](INFO): Rx dataTimestamp_ set to:1751053097.791671
2025-06-27T19:38:17.792Z,1751053097.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521031
2025-06-27T19:38:18.047Z,1751053098.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774223
2025-06-27T19:38:18.208Z,1751053098.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.26 m.
2025-06-27T19:38:18.211Z,1751053098.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 388.255890 m,
      nav range: 364.676605 m,
      bearing: 248.263631 deg,
      approach rate: -0.756000 m/s,
      LOS rate: 0.000661 deg/s,
      cmd heading: 246.436121 deg,
      new cmd heading: 246.437001 deg.

2025-06-27T19:38:18.212Z,1751053098.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301137 target range: 388.255890 and range: 391.80 m.
2025-06-27T19:38:18.306Z,1751053098.306 [DAT](INFO): DAT read: 19:38:16.1391 LVL= 32752, 31409, 31874, 32755, AGC= 71, IDX= 387, 0.34, 2.437, 1.066, 2.315, 1.806, PHS= 0.720,-0.693, 0.507, RAW= 142.0,  -8.1, CAL= 148.4, -17.6, ROT=   1.6,  17.6

2025-06-27T19:38:18.308Z,1751053098.308 [DAT](INFO): got valid direction response:
 19:38:16.1391 LVL= 32752, 31409, 31874, 32755, AGC= 71, IDX= 387, 0.34, 2.437, 1.066, 2.315, 1.806, PHS= 0.720,-0.693, 0.507, RAW= 142.0,  -8.1, CAL= 148.4, -17.6, ROT=   1.6,  17.6

2025-06-27T19:38:18.309Z,1751053098.309 [DAT](INFO): DAT read: Bearing   1.6,  17.6 (Local)

2025-06-27T19:38:18.310Z,1751053098.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  17.6 (Local)

2025-06-27T19:38:18.316Z,1751053098.316 [DAT](INFO): DAT read: Range 10 to 50 : 388.4 m  (Round-trip  517.9 ms) speed  0.7 m/s

2025-06-27T19:38:18.317Z,1751053098.317 [DAT](INFO): DAT read: user:2621>

2025-06-27T19:38:18.323Z,1751053098.323 [DAT](INFO): DAT read: Tx time:19:38:17.2670

2025-06-27T19:38:18.324Z,1751053098.324 [DAT](INFO): Ping request sent.
2025-06-27T19:38:18.324Z,1751053098.324 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:18.325Z,1751053098.325 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:18.337Z,1751053098.337 [DAT](INFO): direction in FSK: [0.952819,0.026615,-0.302370]
2025-06-27T19:38:18.343Z,1751053098.343 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:18.343Z,1751053098.343 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:18.352Z,1751053098.352 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:18.352Z,1751053098.352 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:18.548Z,1751053098.548 [DAT](INFO): DAT read: TxSync time:19:38:17.2663

2025-06-27T19:38:18.610Z,1751053098.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 388.399994 m,
      deltaT: 4.035941 s,
      deltaX: -3.399994 m,
      approachRate: -0.842429 m/s,
      rangeRepo size: 4

2025-06-27T19:38:18.616Z,1751053098.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 384.886169 m,
      bearing: 249.215760 deg,
      lat: 36.906484 deg,
      lon: -122.116352 deg,
      deltaT: 4.035941 s,
      deltaX: -3.369720 m,
      approachRate: -0.834928 m/s,
      posRepo size: 4

2025-06-27T19:38:18.617Z,1751053098.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:18.624Z,1751053098.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 364.388550 m,
      bearing: 248.263917 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000661 deg/s,
      cmd heading: 246.436996 deg,
      new cmd heading: 246.437791 deg.

2025-06-27T19:38:18.624Z,1751053098.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301151 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:19.008Z,1751053099.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:19.023Z,1751053099.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 364.093018 m,
      bearing: 248.264202 deg,
      approach rate: -0.741673 m/s,
      LOS rate: 0.000716 deg/s,
      cmd heading: 246.437788 deg,
      new cmd heading: 246.438644 deg.

2025-06-27T19:38:19.040Z,1751053099.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301166 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:19.478Z,1751053099.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:19.480Z,1751053099.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:19.499Z,1751053099.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 363.727173 m,
      bearing: 248.264329 deg,
      approach rate: -0.773787 m/s,
      LOS rate: 0.000270 deg/s,
      cmd heading: 246.438635 deg,
      new cmd heading: 246.439017 deg.

2025-06-27T19:38:19.500Z,1751053099.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301172 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:19.556Z,1751053099.556 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:19.556Z,1751053099.556 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:19.556Z,1751053099.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:19.807Z,1751053099.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483083
2025-06-27T19:38:19.819Z,1751053099.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:19.822Z,1751053099.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 363.494507 m,
      bearing: 248.264422 deg,
      approach rate: -0.686910 m/s,
      LOS rate: 0.000275 deg/s,
      cmd heading: 246.439017 deg,
      new cmd heading: 246.439297 deg.

2025-06-27T19:38:19.833Z,1751053099.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301177 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:20.062Z,1751053100.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737106
2025-06-27T19:38:20.227Z,1751053100.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:20.230Z,1751053100.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 363.181946 m,
      bearing: 248.264156 deg,
      approach rate: -0.765602 m/s,
      LOS rate: -0.000652 deg/s,
      cmd heading: 246.439290 deg,
      new cmd heading: 246.438492 deg.

2025-06-27T19:38:20.232Z,1751053100.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301163 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:20.313Z,1751053100.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988332
2025-06-27T19:38:20.563Z,1751053100.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238988
2025-06-27T19:38:20.609Z,1751053100.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:20.612Z,1751053100.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 362.903381 m,
      bearing: 248.263891 deg,
      approach rate: -0.728982 m/s,
      LOS rate: -0.000695 deg/s,
      cmd heading: 246.438498 deg,
      new cmd heading: 246.437702 deg.

2025-06-27T19:38:20.613Z,1751053100.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301149 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:20.815Z,1751053100.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491117
2025-06-27T19:38:21.071Z,1751053101.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745986
2025-06-27T19:38:21.152Z,1751053101.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:21.156Z,1751053101.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 362.518280 m,
      bearing: 248.262377 deg,
      approach rate: -0.709020 m/s,
      LOS rate: -0.002790 deg/s,
      cmd heading: 246.437706 deg,
      new cmd heading: 246.433159 deg.

2025-06-27T19:38:21.157Z,1751053101.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301070 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:21.319Z,1751053101.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995022
2025-06-27T19:38:21.469Z,1751053101.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:21.476Z,1751053101.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 362.302338 m,
      bearing: 248.261498 deg,
      approach rate: -0.682269 m/s,
      LOS rate: -0.002777 deg/s,
      cmd heading: 246.433171 deg,
      new cmd heading: 246.430533 deg.

2025-06-27T19:38:21.477Z,1751053101.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301024 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:21.572Z,1751053101.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247540
2025-06-27T19:38:21.824Z,1751053101.824 [DAT](INFO): DAT read: Rx Time:19:38:20.1710

2025-06-27T19:38:21.825Z,1751053101.825 [DAT](INFO): Rx dataTimestamp_ set to:1751053101.824623
2025-06-27T19:38:21.825Z,1751053101.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501191
2025-06-27T19:38:21.919Z,1751053101.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:21.921Z,1751053101.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 384.89 m.
2025-06-27T19:38:21.923Z,1751053101.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 384.886169 m,
      nav range: 361.973938 m,
      bearing: 248.260160 deg,
      approach rate: -0.727066 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 246.430520 deg,
      new cmd heading: 246.426502 deg.

2025-06-27T19:38:21.924Z,1751053101.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300954 target range: 384.886169 and range: 388.40 m.
2025-06-27T19:38:22.078Z,1751053102.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753270
2025-06-27T19:38:22.333Z,1751053102.333 [DAT](INFO): DAT read: 19:38:20.1710 LVL= 22192, 26097, 22002, 31699, AGC= 73, IDX= 249, 0.21,-1.065,-2.638,-1.228,-1.779, PHS= 0.802,-0.811, 0.548, RAW= 141.6,  -7.2, CAL= 147.8, -16.7, ROT=   2.2,  16.7

2025-06-27T19:38:22.335Z,1751053102.335 [DAT](INFO): got valid direction response:
 19:38:20.1710 LVL= 22192, 26097, 22002, 31699, AGC= 73, IDX= 249, 0.21,-1.065,-2.638,-1.228,-1.779, PHS= 0.802,-0.811, 0.548, RAW= 141.6,  -7.2, CAL= 147.8, -16.7, ROT=   2.2,  16.7

2025-06-27T19:38:22.336Z,1751053102.336 [DAT](INFO): DAT read: Bearing   2.2,  16.7 (Local)

2025-06-27T19:38:22.336Z,1751053102.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  16.7 (Local)

2025-06-27T19:38:22.337Z,1751053102.337 [DAT](INFO): DAT read: Range 10 to 50 : 374.8 m  (Round-trip  499.8 ms) speed  0.5 m/s

2025-06-27T19:38:22.338Z,1751053102.338 [DAT](INFO): DAT read: user:2622>

2025-06-27T19:38:22.339Z,1751053102.339 [DAT](INFO): DAT read: Tx time:19:38:21.2671

2025-06-27T19:38:22.339Z,1751053102.339 [DAT](INFO): Ping request sent.
2025-06-27T19:38:22.339Z,1751053102.339 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:22.340Z,1751053102.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:22.341Z,1751053102.341 [DAT](INFO): direction in FSK: [0.957116,0.036769,-0.287361]
2025-06-27T19:38:22.341Z,1751053102.341 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:22.341Z,1751053102.341 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:22.348Z,1751053102.348 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:22.349Z,1751053102.349 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:22.374Z,1751053102.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 374.799988 m,
      deltaT: 4.031981 s,
      deltaX: -13.600006 m,
      approachRate: -3.373033 m/s,
      rangeRepo size: 4

2025-06-27T19:38:22.409Z,1751053102.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.409821 m,
      bearing: 249.986097 deg,
      lat: 36.906533 deg,
      lon: -122.116352 deg,
      deltaT: 4.031981 s,
      deltaX: -13.476349 m,
      approachRate: -3.342364 m/s,
      posRepo size: 4

2025-06-27T19:38:22.410Z,1751053102.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:22.428Z,1751053102.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 359.645721 m,
      bearing: 249.073563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002965 deg/s,
      cmd heading: 246.426504 deg,
      new cmd heading: 246.422479 deg.

2025-06-27T19:38:22.429Z,1751053102.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300884 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:22.580Z,1751053102.580 [DAT](INFO): DAT read: TxSync time:19:38:21.2664

2025-06-27T19:38:22.767Z,1751053102.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:22.770Z,1751053102.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 359.369934 m,
      bearing: 249.072737 deg,
      approach rate: -0.699927 m/s,
      LOS rate: -0.002097 deg/s,
      cmd heading: 246.422488 deg,
      new cmd heading: 246.420010 deg.

2025-06-27T19:38:22.775Z,1751053102.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300840 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:23.227Z,1751053103.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:23.230Z,1751053103.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 359.034515 m,
      bearing: 249.071829 deg,
      approach rate: -0.729024 m/s,
      LOS rate: -0.001976 deg/s,
      cmd heading: 246.420002 deg,
      new cmd heading: 246.417275 deg.

2025-06-27T19:38:23.231Z,1751053103.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300793 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:23.605Z,1751053103.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:23.608Z,1751053103.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 358.767578 m,
      bearing: 249.071040 deg,
      approach rate: -0.706135 m/s,
      LOS rate: -0.002089 deg/s,
      cmd heading: 246.417270 deg,
      new cmd heading: 246.414900 deg.

2025-06-27T19:38:23.609Z,1751053103.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300751 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:24.026Z,1751053104.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:24.032Z,1751053104.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:24.039Z,1751053104.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 358.486237 m,
      bearing: 249.070203 deg,
      approach rate: -0.659204 m/s,
      LOS rate: -0.001962 deg/s,
      cmd heading: 246.414893 deg,
      new cmd heading: 246.412381 deg.

2025-06-27T19:38:24.040Z,1751053104.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300707 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:24.102Z,1751053104.102 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:24.102Z,1751053104.102 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:24.110Z,1751053104.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:24.351Z,1751053104.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011856
2025-06-27T19:38:24.468Z,1751053104.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:24.475Z,1751053104.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 358.166718 m,
      bearing: 249.068824 deg,
      approach rate: -0.732711 m/s,
      LOS rate: -0.003166 deg/s,
      cmd heading: 246.412380 deg,
      new cmd heading: 246.408238 deg.

2025-06-27T19:38:24.476Z,1751053104.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300635 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:24.604Z,1751053104.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264165
2025-06-27T19:38:24.816Z,1751053104.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:24.819Z,1751053104.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 357.905182 m,
      bearing: 249.067672 deg,
      approach rate: -0.750929 m/s,
      LOS rate: -0.003310 deg/s,
      cmd heading: 246.408227 deg,
      new cmd heading: 246.404769 deg.

2025-06-27T19:38:24.820Z,1751053104.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300574 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:24.856Z,1751053104.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516440
2025-06-27T19:38:25.109Z,1751053105.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769687
2025-06-27T19:38:25.240Z,1751053105.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:25.243Z,1751053105.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 357.601624 m,
      bearing: 249.066122 deg,
      approach rate: -0.716539 m/s,
      LOS rate: -0.003660 deg/s,
      cmd heading: 246.404757 deg,
      new cmd heading: 246.400105 deg.

2025-06-27T19:38:25.244Z,1751053105.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300493 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:25.359Z,1751053105.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019988
2025-06-27T19:38:25.611Z,1751053105.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272066
2025-06-27T19:38:25.621Z,1751053105.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:25.624Z,1751053105.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 357.326569 m,
      bearing: 249.064706 deg,
      approach rate: -0.722357 m/s,
      LOS rate: -0.003722 deg/s,
      cmd heading: 246.400112 deg,
      new cmd heading: 246.395861 deg.

2025-06-27T19:38:25.625Z,1751053105.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300419 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:25.863Z,1751053105.863 [DAT](INFO): DAT read: Rx Time:19:38:24.1678

2025-06-27T19:38:25.864Z,1751053105.864 [DAT](INFO): Rx dataTimestamp_ set to:1751053105.863569
2025-06-27T19:38:25.864Z,1751053105.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524969
2025-06-27T19:38:26.031Z,1751053106.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:26.033Z,1751053106.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:26.036Z,1751053106.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409821 m,
      nav range: 357.031586 m,
      bearing: 249.063158 deg,
      approach rate: -0.716047 m/s,
      LOS rate: -0.003761 deg/s,
      cmd heading: 246.395850 deg,
      new cmd heading: 246.391202 deg.

2025-06-27T19:38:26.037Z,1751053106.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300338 target range: 371.409821 and range: 374.80 m.
2025-06-27T19:38:26.118Z,1751053106.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778114
2025-06-27T19:38:26.373Z,1751053106.373 [DAT](INFO): DAT read: 19:38:24.1678 LVL= 17200, 22113, 18050, 24019, AGC= 73, IDX= 408, 0.08, 0.770,-0.812, 0.653,-0.023, PHS= 0.881,-0.742, 0.672, RAW= 143.2, -10.6, CAL= 150.4, -19.8, ROT= 359.6,  19.8

2025-06-27T19:38:26.375Z,1751053106.375 [DAT](INFO): got valid direction response:
 19:38:24.1678 LVL= 17200, 22113, 18050, 24019, AGC= 73, IDX= 408, 0.08, 0.770,-0.812, 0.653,-0.023, PHS= 0.881,-0.742, 0.672, RAW= 143.2, -10.6, CAL= 150.4, -19.8, ROT= 359.6,  19.8

2025-06-27T19:38:26.376Z,1751053106.376 [DAT](INFO): DAT read: Bearing 359.6,  19.8 (Local)

2025-06-27T19:38:26.376Z,1751053106.376 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  19.8 (Local)

2025-06-27T19:38:26.377Z,1751053106.377 [DAT](INFO): DAT read: Range 10 to 50 : 372.3 m  (Round-trip  496.5 ms) speed  0.7 m/s

2025-06-27T19:38:26.379Z,1751053106.379 [DAT](INFO): DAT read: user:2623>

2025-06-27T19:38:26.380Z,1751053106.380 [DAT](INFO): DAT read: Tx time:19:38:25.2671

2025-06-27T19:38:26.380Z,1751053106.380 [DAT](INFO): Ping request sent.
2025-06-27T19:38:26.380Z,1751053106.380 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:26.381Z,1751053106.381 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:26.381Z,1751053106.381 [DAT](INFO): direction in FSK: [0.940858,-0.006568,-0.338738]
2025-06-27T19:38:26.382Z,1751053106.382 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:26.382Z,1751053106.382 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:26.385Z,1751053106.385 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:26.385Z,1751053106.385 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:26.567Z,1751053106.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 372.299988 m,
      deltaT: 4.039921 s,
      deltaX: -2.500000 m,
      approachRate: -0.618824 m/s,
      rangeRepo size: 4

2025-06-27T19:38:26.569Z,1751053106.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.931549 m,
      bearing: 247.883583 deg,
      lat: 36.906510 deg,
      lon: -122.116318 deg,
      deltaT: 4.039921 s,
      deltaX: -2.478271 m,
      approachRate: -0.613446 m/s,
      posRepo size: 4

2025-06-27T19:38:26.570Z,1751053106.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:26.577Z,1751053106.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 354.839600 m,
      bearing: 248.492064 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003761 deg/s,
      cmd heading: 246.391206 deg,
      new cmd heading: 246.385282 deg.

2025-06-27T19:38:26.578Z,1751053106.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300234 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:26.620Z,1751053106.620 [DAT](INFO): DAT read: TxSync time:19:38:25.2664

2025-06-27T19:38:26.895Z,1751053106.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:26.898Z,1751053106.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 354.582214 m,
      bearing: 248.490135 deg,
      approach rate: -0.762178 m/s,
      LOS rate: -0.005717 deg/s,
      cmd heading: 246.385277 deg,
      new cmd heading: 246.379486 deg.

2025-06-27T19:38:26.900Z,1751053106.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300133 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:27.311Z,1751053107.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:27.314Z,1751053107.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 354.274597 m,
      bearing: 248.488623 deg,
      approach rate: -0.739793 m/s,
      LOS rate: -0.003638 deg/s,
      cmd heading: 246.379485 deg,
      new cmd heading: 246.374947 deg.

2025-06-27T19:38:27.316Z,1751053107.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300054 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:27.704Z,1751053107.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:27.707Z,1751053107.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 353.984039 m,
      bearing: 248.487193 deg,
      approach rate: -0.740269 m/s,
      LOS rate: -0.003647 deg/s,
      cmd heading: 246.374950 deg,
      new cmd heading: 246.370656 deg.

2025-06-27T19:38:27.708Z,1751053107.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299979 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:28.089Z,1751053108.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:28.092Z,1751053108.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:28.095Z,1751053108.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 353.697662 m,
      bearing: 248.485726 deg,
      approach rate: -0.737800 m/s,
      LOS rate: -0.003784 deg/s,
      cmd heading: 246.370661 deg,
      new cmd heading: 246.366255 deg.

2025-06-27T19:38:28.096Z,1751053108.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299902 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:28.134Z,1751053108.134 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:28.135Z,1751053108.135 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:28.135Z,1751053108.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:28.383Z,1751053108.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003042
2025-06-27T19:38:28.521Z,1751053108.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:28.524Z,1751053108.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 353.371429 m,
      bearing: 248.484447 deg,
      approach rate: -0.759740 m/s,
      LOS rate: -0.002980 deg/s,
      cmd heading: 246.366262 deg,
      new cmd heading: 246.362423 deg.

2025-06-27T19:38:28.525Z,1751053108.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299835 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:28.636Z,1751053108.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255614
2025-06-27T19:38:28.887Z,1751053108.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507152
2025-06-27T19:38:28.903Z,1751053108.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:28.906Z,1751053108.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 353.082153 m,
      bearing: 248.483328 deg,
      approach rate: -0.757648 m/s,
      LOS rate: -0.002934 deg/s,
      cmd heading: 246.362410 deg,
      new cmd heading: 246.359049 deg.

2025-06-27T19:38:28.907Z,1751053108.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299777 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:29.140Z,1751053109.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759275
2025-06-27T19:38:29.336Z,1751053109.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:29.357Z,1751053109.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 352.744598 m,
      bearing: 248.482636 deg,
      approach rate: -0.779839 m/s,
      LOS rate: -0.001600 deg/s,
      cmd heading: 246.359049 deg,
      new cmd heading: 246.356971 deg.

2025-06-27T19:38:29.359Z,1751053109.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299740 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:29.392Z,1751053109.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011331
2025-06-27T19:38:29.643Z,1751053109.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263074
2025-06-27T19:38:29.717Z,1751053109.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:29.720Z,1751053109.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 352.447906 m,
      bearing: 248.482065 deg,
      approach rate: -0.778682 m/s,
      LOS rate: -0.001498 deg/s,
      cmd heading: 246.356973 deg,
      new cmd heading: 246.355260 deg.

2025-06-27T19:38:29.721Z,1751053109.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299710 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:29.896Z,1751053109.896 [DAT](INFO): DAT read: Rx Time:19:38:28.1782

2025-06-27T19:38:29.896Z,1751053109.896 [DAT](INFO): Rx dataTimestamp_ set to:1751053109.895732
2025-06-27T19:38:29.897Z,1751053109.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516294
2025-06-27T19:38:30.119Z,1751053110.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:30.121Z,1751053110.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.93 m.
2025-06-27T19:38:30.124Z,1751053110.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.931549 m,
      nav range: 352.132507 m,
      bearing: 248.481520 deg,
      approach rate: -0.780139 m/s,
      LOS rate: -0.001351 deg/s,
      cmd heading: 246.355252 deg,
      new cmd heading: 246.353613 deg.

2025-06-27T19:38:30.125Z,1751053110.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299682 target range: 368.931549 and range: 372.30 m.
2025-06-27T19:38:30.148Z,1751053110.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768181
2025-06-27T19:38:30.409Z,1751053110.409 [DAT](INFO): DAT read: 19:38:28.1782 LVL= 25472, 32753, 26738, 30531, AGC= 72, IDX=  34, 0.31,-2.689, 2.006,-2.827, 2.827, PHS= 0.855,-0.774, 0.626, RAW= 142.5,  -9.3, CAL= 149.3, -18.6, ROT=   0.7,  18.6

2025-06-27T19:38:30.411Z,1751053110.411 [DAT](INFO): got valid direction response:
 19:38:28.1782 LVL= 25472, 32753, 26738, 30531, AGC= 72, IDX=  34, 0.31,-2.689, 2.006,-2.827, 2.827, PHS= 0.855,-0.774, 0.626, RAW= 142.5,  -9.3, CAL= 149.3, -18.6, ROT=   0.7,  18.6

2025-06-27T19:38:30.412Z,1751053110.412 [DAT](INFO): DAT read: Bearing   0.7,  18.6 (Local)

2025-06-27T19:38:30.412Z,1751053110.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  18.6 (Local)

2025-06-27T19:38:30.414Z,1751053110.414 [DAT](INFO): DAT read: Range 10 to 50 : 380.1 m  (Round-trip  506.9 ms) speed  0.9 m/s

2025-06-27T19:38:30.415Z,1751053110.415 [DAT](INFO): DAT read: user:2624>

2025-06-27T19:38:30.415Z,1751053110.415 [DAT](INFO): DAT read: Tx time:19:38:29.2671

2025-06-27T19:38:30.416Z,1751053110.416 [DAT](INFO): Ping request sent.
2025-06-27T19:38:30.416Z,1751053110.416 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:30.416Z,1751053110.416 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:30.417Z,1751053110.417 [DAT](INFO): direction in FSK: [0.947698,0.011579,-0.318959]
2025-06-27T19:38:30.417Z,1751053110.417 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:30.418Z,1751053110.418 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:30.421Z,1751053110.421 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:30.421Z,1751053110.421 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:30.635Z,1751053110.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 380.100006 m,
      deltaT: 4.031927 s,
      deltaX: 7.800018 m,
      approachRate: 1.934563 m/s,
      rangeRepo size: 4

2025-06-27T19:38:30.637Z,1751053110.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 376.660797 m,
      bearing: 248.641600 deg,
      lat: 36.906510 deg,
      lon: -122.116352 deg,
      deltaT: 4.031927 s,
      deltaX: 7.729248 m,
      approachRate: 1.917011 m/s,
      posRepo size: 4

2025-06-27T19:38:30.638Z,1751053110.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:30.645Z,1751053110.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 354.513855 m,
      bearing: 248.656891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001351 deg/s,
      cmd heading: 246.353613 deg,
      new cmd heading: 246.351550 deg.

2025-06-27T19:38:30.646Z,1751053110.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299646 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:30.652Z,1751053110.652 [DAT](INFO): DAT read: TxSync time:19:38:29.2664

2025-06-27T19:38:30.973Z,1751053110.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:30.976Z,1751053110.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 354.240784 m,
      bearing: 248.655996 deg,
      approach rate: -0.802306 m/s,
      LOS rate: -0.002630 deg/s,
      cmd heading: 246.351564 deg,
      new cmd heading: 246.348878 deg.

2025-06-27T19:38:30.977Z,1751053110.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299599 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:31.396Z,1751053111.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:31.399Z,1751053111.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 353.881104 m,
      bearing: 248.655993 deg,
      approach rate: -0.845604 m/s,
      LOS rate: -0.000007 deg/s,
      cmd heading: 246.348886 deg,
      new cmd heading: 246.348877 deg.

2025-06-27T19:38:31.400Z,1751053111.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299599 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:31.743Z,1751053111.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:31.746Z,1751053111.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 353.595886 m,
      bearing: 248.656146 deg,
      approach rate: -0.821388 m/s,
      LOS rate: 0.000442 deg/s,
      cmd heading: 246.348886 deg,
      new cmd heading: 246.349346 deg.

2025-06-27T19:38:31.763Z,1751053111.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299607 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:32.152Z,1751053112.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:32.155Z,1751053112.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:32.157Z,1751053112.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 353.259766 m,
      bearing: 248.656328 deg,
      approach rate: -0.816711 m/s,
      LOS rate: 0.000441 deg/s,
      cmd heading: 246.349351 deg,
      new cmd heading: 246.349896 deg.

2025-06-27T19:38:32.159Z,1751053112.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299617 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:32.163Z,1751053112.163 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:32.163Z,1751053112.163 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:32.164Z,1751053112.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:32.415Z,1751053112.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999496
2025-06-27T19:38:32.640Z,1751053112.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:32.643Z,1751053112.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 352.874084 m,
      bearing: 248.656310 deg,
      approach rate: -0.795047 m/s,
      LOS rate: -0.000038 deg/s,
      cmd heading: 246.349897 deg,
      new cmd heading: 246.349842 deg.

2025-06-27T19:38:32.644Z,1751053112.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299616 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:32.667Z,1751053112.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251330
2025-06-27T19:38:32.919Z,1751053112.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503489
2025-06-27T19:38:32.999Z,1751053112.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:33.007Z,1751053113.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 352.603302 m,
      bearing: 248.656332 deg,
      approach rate: -0.764372 m/s,
      LOS rate: 0.000064 deg/s,
      cmd heading: 246.349842 deg,
      new cmd heading: 246.349910 deg.

2025-06-27T19:38:33.009Z,1751053113.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299617 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:33.174Z,1751053113.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757933
2025-06-27T19:38:33.423Z,1751053113.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007370
2025-06-27T19:38:33.556Z,1751053113.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:33.559Z,1751053113.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 352.150940 m,
      bearing: 248.657588 deg,
      approach rate: -0.804379 m/s,
      LOS rate: 0.002237 deg/s,
      cmd heading: 246.349897 deg,
      new cmd heading: 246.353671 deg.

2025-06-27T19:38:33.560Z,1751053113.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299683 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:33.676Z,1751053113.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259879
2025-06-27T19:38:33.875Z,1751053113.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:33.878Z,1751053113.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 351.901855 m,
      bearing: 248.658308 deg,
      approach rate: -0.781795 m/s,
      LOS rate: 0.002259 deg/s,
      cmd heading: 246.353667 deg,
      new cmd heading: 246.355826 deg.

2025-06-27T19:38:33.879Z,1751053113.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299720 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:33.929Z,1751053113.929 [DAT](INFO): DAT read: Rx Time:19:38:32.1455

2025-06-27T19:38:33.929Z,1751053113.929 [DAT](INFO): Rx dataTimestamp_ set to:1751053113.928730
2025-06-27T19:38:33.930Z,1751053113.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514057
2025-06-27T19:38:34.179Z,1751053114.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763450
2025-06-27T19:38:34.421Z,1751053114.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:34.424Z,1751053114.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:34.426Z,1751053114.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 351.488190 m,
      bearing: 248.660009 deg,
      approach rate: -0.754055 m/s,
      LOS rate: 0.003104 deg/s,
      cmd heading: 246.355826 deg,
      new cmd heading: 246.360935 deg.

2025-06-27T19:38:34.427Z,1751053114.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299809 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:34.437Z,1751053114.437 [DAT](INFO): DAT read: 19:38:32.1455 LVL= 27632, 29489, 27810, 32755, AGC= 71, IDX= 248,-0.11,-3.116, 1.636, 2.981, 2.530, PHS= 0.725,-0.848, 0.447, RAW= 140.5,  -4.5, CAL= 146.0, -13.9, ROT=   4.0,  13.9

2025-06-27T19:38:34.439Z,1751053114.439 [DAT](INFO): got valid direction response:
 19:38:32.1455 LVL= 27632, 29489, 27810, 32755, AGC= 71, IDX= 248,-0.11,-3.116, 1.636, 2.981, 2.530, PHS= 0.725,-0.848, 0.447, RAW= 140.5,  -4.5, CAL= 146.0, -13.9, ROT=   4.0,  13.9

2025-06-27T19:38:34.440Z,1751053114.440 [DAT](INFO): DAT read: Bearing   4.0,  13.9 (Local)

2025-06-27T19:38:34.440Z,1751053114.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,  13.9 (Local)

2025-06-27T19:38:34.441Z,1751053114.441 [DAT](INFO): DAT read: Range 10 to 50 : 355.5 m  (Round-trip  474.1 ms) speed  0.5 m/s

2025-06-27T19:38:34.445Z,1751053114.445 [DAT](INFO): DAT read: user:2625>

2025-06-27T19:38:34.446Z,1751053114.446 [DAT](INFO): DAT read: Tx time:19:38:33.2672

2025-06-27T19:38:34.446Z,1751053114.446 [DAT](INFO): Ping request sent.
2025-06-27T19:38:34.446Z,1751053114.446 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:34.447Z,1751053114.447 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:34.448Z,1751053114.448 [DAT](INFO): direction in FSK: [0.968352,0.067714,-0.240228]
2025-06-27T19:38:34.448Z,1751053114.448 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:34.463Z,1751053114.463 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:34.466Z,1751053114.466 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:34.466Z,1751053114.466 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:34.684Z,1751053114.684 [DAT](INFO): DAT read: TxSync time:19:38:33.2665

2025-06-27T19:38:34.789Z,1751053114.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 355.500000 m,
 deltaT: 4.032203 s,
 deltaX: -24.600006 m,
 approachRate: -6.100885 m/s,
 rangeRepo size: 4
2025-06-27T19:38:34.789Z,1751053114.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:34.796Z,1751053114.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 351.224457 m,
      bearing: 248.661097 deg,
      approach rate: -0.723805 m/s,
      LOS rate: 0.002988 deg/s,
      cmd heading: 246.360935 deg,
      new cmd heading: 246.364201 deg.

2025-06-27T19:38:34.797Z,1751053114.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299867 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:35.165Z,1751053115.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:35.168Z,1751053115.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 350.927795 m,
      bearing: 248.662354 deg,
      approach rate: -0.786861 m/s,
      LOS rate: 0.003338 deg/s,
      cmd heading: 246.364213 deg,
      new cmd heading: 246.367989 deg.

2025-06-27T19:38:35.169Z,1751053115.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299932 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:35.589Z,1751053115.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:35.592Z,1751053115.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 350.618805 m,
      bearing: 248.663277 deg,
      approach rate: -0.728581 m/s,
      LOS rate: 0.002177 deg/s,
      cmd heading: 246.367983 deg,
      new cmd heading: 246.370753 deg.

2025-06-27T19:38:35.593Z,1751053115.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299981 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:35.967Z,1751053115.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:35.969Z,1751053115.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 350.343597 m,
      bearing: 248.664109 deg,
      approach rate: -0.729295 m/s,
      LOS rate: 0.002207 deg/s,
      cmd heading: 246.370743 deg,
      new cmd heading: 246.373242 deg.

2025-06-27T19:38:35.971Z,1751053115.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300024 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:36.393Z,1751053116.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:36.396Z,1751053116.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 350.041992 m,
      bearing: 248.663852 deg,
      approach rate: -0.706496 m/s,
      LOS rate: -0.000601 deg/s,
      cmd heading: 246.373229 deg,
      new cmd heading: 246.372459 deg.

2025-06-27T19:38:36.397Z,1751053116.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300011 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:36.764Z,1751053116.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:36.766Z,1751053116.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:36.769Z,1751053116.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 349.777893 m,
      bearing: 248.663572 deg,
      approach rate: -0.708073 m/s,
      LOS rate: -0.000752 deg/s,
      cmd heading: 246.372464 deg,
      new cmd heading: 246.371623 deg.

2025-06-27T19:38:36.770Z,1751053116.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299996 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:36.951Z,1751053116.951 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:36.951Z,1751053116.951 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:36.951Z,1751053116.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:37.159Z,1751053117.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:37.161Z,1751053117.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 349.499939 m,
      bearing: 248.663231 deg,
      approach rate: -0.708412 m/s,
      LOS rate: -0.000870 deg/s,
      cmd heading: 246.371617 deg,
      new cmd heading: 246.370592 deg.

2025-06-27T19:38:37.163Z,1751053117.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299978 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:37.203Z,1751053117.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757400
2025-06-27T19:38:37.455Z,1751053117.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009226
2025-06-27T19:38:37.588Z,1751053117.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:37.591Z,1751053117.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 349.196838 m,
      bearing: 248.662541 deg,
      approach rate: -0.705609 m/s,
      LOS rate: -0.001607 deg/s,
      cmd heading: 246.370606 deg,
      new cmd heading: 246.368535 deg.

2025-06-27T19:38:37.592Z,1751053117.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299942 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:37.708Z,1751053117.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261721
2025-06-27T19:38:37.959Z,1751053117.959 [DAT](INFO): DAT read: Rx Time:19:38:36.1711

2025-06-27T19:38:37.960Z,1751053117.960 [DAT](INFO): Rx dataTimestamp_ set to:1751053117.959666
2025-06-27T19:38:37.960Z,1751053117.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514448
2025-06-27T19:38:37.996Z,1751053117.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 376.66 m.
2025-06-27T19:38:38.005Z,1751053118.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 376.660797 m,
      nav range: 348.927246 m,
      bearing: 248.661892 deg,
      approach rate: -0.691195 m/s,
      LOS rate: -0.001667 deg/s,
      cmd heading: 246.368530 deg,
      new cmd heading: 246.366579 deg.

2025-06-27T19:38:38.011Z,1751053118.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299908 target range: 376.660797 and range: 380.10 m.
2025-06-27T19:38:38.211Z,1751053118.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765332
2025-06-27T19:38:38.469Z,1751053118.469 [DAT](INFO): DAT read: 19:38:36.1711 LVL= 25904, 27377, 29426, 32755, AGC= 70, IDX=  34,-0.11, 2.822, 1.407, 2.465, 2.327, PHS= 0.583,-0.873, 0.136, RAW= 132.6,   2.4, CAL= 138.2,  -5.4, ROT=  11.8,   5.4

2025-06-27T19:38:38.471Z,1751053118.471 [DAT](INFO): got valid direction response:
 19:38:36.1711 LVL= 25904, 27377, 29426, 32755, AGC= 70, IDX=  34,-0.11, 2.822, 1.407, 2.465, 2.327, PHS= 0.583,-0.873, 0.136, RAW= 132.6,   2.4, CAL= 138.2,  -5.4, ROT=  11.8,   5.4

2025-06-27T19:38:38.472Z,1751053118.472 [DAT](INFO): DAT read: Bearing  11.8,   5.4 (Local)

2025-06-27T19:38:38.472Z,1751053118.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.8,   5.4 (Local)

2025-06-27T19:38:38.473Z,1751053118.473 [DAT](INFO): DAT read: Range 10 to 50 : 374.8 m  (Round-trip  499.8 ms) speed  0.4 m/s

2025-06-27T19:38:38.475Z,1751053118.475 [DAT](INFO): DAT read: user:2626>

2025-06-27T19:38:38.476Z,1751053118.476 [DAT](INFO): DAT read: Tx time:19:38:37.2672

2025-06-27T19:38:38.476Z,1751053118.476 [DAT](INFO): Ping request sent.
2025-06-27T19:38:38.476Z,1751053118.476 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:38.477Z,1751053118.477 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:38.478Z,1751053118.478 [DAT](INFO): direction in FSK: [0.974523,0.203588,-0.094108]
2025-06-27T19:38:38.478Z,1751053118.478 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:38.478Z,1751053118.478 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:38.481Z,1751053118.481 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:38.481Z,1751053118.481 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:38.546Z,1751053118.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 374.799988 m,
      deltaT: 8.064143 s,
      deltaX: -5.300018 m,
      approachRate: -0.657233 m/s,
      rangeRepo size: 4

2025-06-27T19:38:38.571Z,1751053118.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 371.409882 m,
      bearing: 258.518130 deg,
      lat: 36.906598 deg,
      lon: -122.116327 deg,
      deltaT: 8.064143 s,
      deltaX: -5.250916 m,
      approachRate: -0.651144 m/s,
      posRepo size: 4

2025-06-27T19:38:38.571Z,1751053118.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:38.574Z,1751053118.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 342.973175 m,
      bearing: 250.052089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001667 deg/s,
      cmd heading: 246.366590 deg,
      new cmd heading: 246.363754 deg.

2025-06-27T19:38:38.580Z,1751053118.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299859 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:38.716Z,1751053118.716 [DAT](INFO): DAT read: TxSync time:19:38:37.2665

2025-06-27T19:38:38.884Z,1751053118.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:38.886Z,1751053118.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:38.889Z,1751053118.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 342.703888 m,
      bearing: 250.051491 deg,
      approach rate: -0.789941 m/s,
      LOS rate: -0.001756 deg/s,
      cmd heading: 246.363749 deg,
      new cmd heading: 246.361953 deg.

2025-06-27T19:38:38.890Z,1751053118.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299827 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:38.968Z,1751053118.968 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:38.968Z,1751053118.968 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:38.969Z,1751053118.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:39.219Z,1751053119.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743011
2025-06-27T19:38:39.263Z,1751053119.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:39.266Z,1751053119.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 342.437531 m,
      bearing: 250.050859 deg,
      approach rate: -0.706472 m/s,
      LOS rate: -0.001677 deg/s,
      cmd heading: 246.361945 deg,
      new cmd heading: 246.360048 deg.

2025-06-27T19:38:39.267Z,1751053119.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299794 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:39.471Z,1751053119.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995049
2025-06-27T19:38:39.687Z,1751053119.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:39.690Z,1751053119.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 342.137604 m,
      bearing: 250.048396 deg,
      approach rate: -0.707859 m/s,
      LOS rate: -0.005817 deg/s,
      cmd heading: 246.360060 deg,
      new cmd heading: 246.352667 deg.

2025-06-27T19:38:39.691Z,1751053119.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299665 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:39.725Z,1751053119.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248881
2025-06-27T19:38:39.975Z,1751053119.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499066
2025-06-27T19:38:40.078Z,1751053120.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:40.081Z,1751053120.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 341.860291 m,
      bearing: 250.046129 deg,
      approach rate: -0.708911 m/s,
      LOS rate: -0.005801 deg/s,
      cmd heading: 246.352656 deg,
      new cmd heading: 246.345849 deg.

2025-06-27T19:38:40.082Z,1751053120.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299546 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:40.228Z,1751053120.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751855
2025-06-27T19:38:40.479Z,1751053120.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003097
2025-06-27T19:38:40.519Z,1751053120.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:40.522Z,1751053120.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 341.555695 m,
      bearing: 250.044066 deg,
      approach rate: -0.690363 m/s,
      LOS rate: -0.004679 deg/s,
      cmd heading: 246.345853 deg,
      new cmd heading: 246.339660 deg.

2025-06-27T19:38:40.527Z,1751053120.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299438 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:40.731Z,1751053120.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254998
2025-06-27T19:38:40.882Z,1751053120.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:40.885Z,1751053120.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 341.278625 m,
      bearing: 250.042246 deg,
      approach rate: -0.763545 m/s,
      LOS rate: -0.005021 deg/s,
      cmd heading: 246.339652 deg,
      new cmd heading: 246.334186 deg.

2025-06-27T19:38:40.886Z,1751053120.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299343 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:40.983Z,1751053120.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507109
2025-06-27T19:38:41.235Z,1751053121.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759041
2025-06-27T19:38:41.281Z,1751053121.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:41.283Z,1751053121.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:41.286Z,1751053121.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 340.988251 m,
      bearing: 250.040353 deg,
      approach rate: -0.723758 m/s,
      LOS rate: -0.004722 deg/s,
      cmd heading: 246.334188 deg,
      new cmd heading: 246.328504 deg.

2025-06-27T19:38:41.287Z,1751053121.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299243 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:41.488Z,1751053121.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011206
2025-06-27T19:38:41.712Z,1751053121.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:41.714Z,1751053121.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 340.676147 m,
      bearing: 250.039074 deg,
      approach rate: -0.728937 m/s,
      LOS rate: -0.002989 deg/s,
      cmd heading: 246.328505 deg,
      new cmd heading: 246.324666 deg.

2025-06-27T19:38:41.715Z,1751053121.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299176 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:41.739Z,1751053121.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263062
2025-06-27T19:38:41.992Z,1751053121.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515734
2025-06-27T19:38:42.099Z,1751053122.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:42.102Z,1751053122.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 340.392639 m,
      bearing: 250.037886 deg,
      approach rate: -0.731263 m/s,
      LOS rate: -0.003069 deg/s,
      cmd heading: 246.324653 deg,
      new cmd heading: 246.321084 deg.

2025-06-27T19:38:42.103Z,1751053122.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299114 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:42.243Z,1751053122.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767064
2025-06-27T19:38:42.497Z,1751053122.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020364
2025-06-27T19:38:42.557Z,1751053122.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:42.560Z,1751053122.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 340.055481 m,
      bearing: 250.037444 deg,
      approach rate: -0.736267 m/s,
      LOS rate: -0.000965 deg/s,
      cmd heading: 246.321074 deg,
      new cmd heading: 246.319748 deg.

2025-06-27T19:38:42.561Z,1751053122.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299090 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:42.749Z,1751053122.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272974
2025-06-27T19:38:42.927Z,1751053122.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:42.930Z,1751053122.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 339.794983 m,
      bearing: 250.037052 deg,
      approach rate: -0.704414 m/s,
      LOS rate: -0.001060 deg/s,
      cmd heading: 246.319735 deg,
      new cmd heading: 246.318559 deg.

2025-06-27T19:38:42.935Z,1751053122.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299070 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:43.000Z,1751053123.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524008
2025-06-27T19:38:43.021Z,1751053123.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:38:43.251Z,1751053123.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775009
2025-06-27T19:38:43.308Z,1751053123.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:43.310Z,1751053123.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:43.313Z,1751053123.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 339.501495 m,
      bearing: 250.036597 deg,
      approach rate: -0.766893 m/s,
      LOS rate: -0.001191 deg/s,
      cmd heading: 246.318560 deg,
      new cmd heading: 246.317193 deg.

2025-06-27T19:38:43.313Z,1751053123.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299046 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:43.504Z,1751053123.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027431
2025-06-27T19:38:43.735Z,1751053123.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:43.737Z,1751053123.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 339.186615 m,
      bearing: 250.037514 deg,
      approach rate: -0.741045 m/s,
      LOS rate: 0.002159 deg/s,
      cmd heading: 246.317194 deg,
      new cmd heading: 246.319946 deg.

2025-06-27T19:38:43.739Z,1751053123.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299094 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:43.758Z,1751053123.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281446
2025-06-27T19:38:44.008Z,1751053124.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531593
2025-06-27T19:38:44.023Z,1751053124.023 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:38:44.122Z,1751053124.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:44.125Z,1751053124.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 338.899658 m,
      bearing: 250.038336 deg,
      approach rate: -0.740278 m/s,
      LOS rate: 0.002123 deg/s,
      cmd heading: 246.319953 deg,
      new cmd heading: 246.322423 deg.

2025-06-27T19:38:44.126Z,1751053124.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299137 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:44.260Z,1751053124.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783474
2025-06-27T19:38:44.511Z,1751053124.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035021
2025-06-27T19:38:44.565Z,1751053124.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:44.567Z,1751053124.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 338.559357 m,
      bearing: 250.040731 deg,
      approach rate: -0.769358 m/s,
      LOS rate: 0.005420 deg/s,
      cmd heading: 246.322412 deg,
      new cmd heading: 246.329605 deg.

2025-06-27T19:38:44.568Z,1751053124.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299263 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:44.764Z,1751053124.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287745
2025-06-27T19:38:45.016Z,1751053125.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.539859
2025-06-27T19:38:45.025Z,1751053125.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:45.032Z,1751053125.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 338.221832 m,
      bearing: 250.043104 deg,
      approach rate: -0.733419 m/s,
      LOS rate: 0.005161 deg/s,
      cmd heading: 246.329598 deg,
      new cmd heading: 246.336723 deg.

2025-06-27T19:38:45.033Z,1751053125.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299387 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:45.267Z,1751053125.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.791038
2025-06-27T19:38:45.457Z,1751053125.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:45.472Z,1751053125.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:45.479Z,1751053125.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 337.909912 m,
      bearing: 250.045294 deg,
      approach rate: -0.697332 m/s,
      LOS rate: 0.004900 deg/s,
      cmd heading: 246.336728 deg,
      new cmd heading: 246.343304 deg.

2025-06-27T19:38:45.480Z,1751053125.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299502 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:45.519Z,1751053125.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043091
2025-06-27T19:38:45.771Z,1751053125.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294979
2025-06-27T19:38:45.959Z,1751053125.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:45.961Z,1751053125.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 337.481537 m,
      bearing: 250.048695 deg,
      approach rate: -0.880590 m/s,
      LOS rate: 0.007002 deg/s,
      cmd heading: 246.343313 deg,
      new cmd heading: 246.353531 deg.

2025-06-27T19:38:45.975Z,1751053125.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299680 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:46.024Z,1751053126.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548161
2025-06-27T19:38:46.275Z,1751053126.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.798994
2025-06-27T19:38:46.428Z,1751053126.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:46.438Z,1751053126.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 337.145630 m,
      bearing: 250.051386 deg,
      approach rate: -0.716946 m/s,
      LOS rate: 0.005747 deg/s,
      cmd heading: 246.353531 deg,
      new cmd heading: 246.361609 deg.

2025-06-27T19:38:46.458Z,1751053126.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299821 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:46.527Z,1751053126.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051119
2025-06-27T19:38:46.779Z,1751053126.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303067
2025-06-27T19:38:46.833Z,1751053126.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:46.836Z,1751053126.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 336.789459 m,
      bearing: 250.054078 deg,
      approach rate: -0.878105 m/s,
      LOS rate: 0.006645 deg/s,
      cmd heading: 246.361618 deg,
      new cmd heading: 246.369704 deg.

2025-06-27T19:38:46.837Z,1751053126.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299963 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:47.031Z,1751053127.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555161
2025-06-27T19:38:47.199Z,1751053127.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:47.202Z,1751053127.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 336.495850 m,
      bearing: 250.056318 deg,
      approach rate: -0.801610 m/s,
      LOS rate: 0.006119 deg/s,
      cmd heading: 246.369704 deg,
      new cmd heading: 246.376428 deg.

2025-06-27T19:38:47.219Z,1751053127.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300080 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:47.284Z,1751053127.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.807820
2025-06-27T19:38:47.535Z,1751053127.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.059036
2025-06-27T19:38:47.669Z,1751053127.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:47.672Z,1751053127.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:47.675Z,1751053127.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 336.114655 m,
      bearing: 250.058204 deg,
      approach rate: -0.806255 m/s,
      LOS rate: 0.003995 deg/s,
      cmd heading: 246.376425 deg,
      new cmd heading: 246.382092 deg.

2025-06-27T19:38:47.676Z,1751053127.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300179 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:47.787Z,1751053127.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311126
2025-06-27T19:38:48.039Z,1751053128.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.563035
2025-06-27T19:38:48.055Z,1751053128.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:48.062Z,1751053128.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 335.816406 m,
      bearing: 250.059684 deg,
      approach rate: -0.777279 m/s,
      LOS rate: 0.003859 deg/s,
      cmd heading: 246.382081 deg,
      new cmd heading: 246.386523 deg.

2025-06-27T19:38:48.063Z,1751053128.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300256 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:48.293Z,1751053128.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816492
2025-06-27T19:38:48.456Z,1751053128.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:48.473Z,1751053128.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 335.518311 m,
      bearing: 250.061254 deg,
      approach rate: -0.755208 m/s,
      LOS rate: 0.003982 deg/s,
      cmd heading: 246.386534 deg,
      new cmd heading: 246.391249 deg.

2025-06-27T19:38:48.482Z,1751053128.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300339 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:48.543Z,1751053128.543 [DAT](INFO): Reached modem response timeout
2025-06-27T19:38:48.543Z,1751053128.543 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:38:48.544Z,1751053128.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:48.795Z,1751053128.795 [DAT](INFO): Reached modem response timeout
2025-06-27T19:38:48.795Z,1751053128.795 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:38:48.796Z,1751053128.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:48.828Z,1751053128.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:48.851Z,1751053128.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 335.180786 m,
      bearing: 250.062561 deg,
      approach rate: -0.893014 m/s,
      LOS rate: 0.003462 deg/s,
      cmd heading: 246.391261 deg,
      new cmd heading: 246.395186 deg.

2025-06-27T19:38:48.852Z,1751053128.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300407 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:49.047Z,1751053129.047 [DAT](INFO): Reached modem response timeout
2025-06-27T19:38:49.047Z,1751053129.047 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:38:49.047Z,1751053129.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:49.201Z,1751053129.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:49.205Z,1751053129.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 334.884705 m,
      bearing: 250.063747 deg,
      approach rate: -0.794500 m/s,
      LOS rate: 0.003186 deg/s,
      cmd heading: 246.395195 deg,
      new cmd heading: 246.398756 deg.

2025-06-27T19:38:49.206Z,1751053129.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300469 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:49.300Z,1751053129.300 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:38:49.300Z,1751053129.300 [DAT](INFO): response not received
2025-06-27T19:38:49.300Z,1751053129.300 [DAT](INFO): DAT read: user:2627>

2025-06-27T19:38:49.301Z,1751053129.301 [DAT](INFO): DAT read: Tx time:19:38:48.2173

2025-06-27T19:38:49.301Z,1751053129.301 [DAT](INFO): Ping request sent.
2025-06-27T19:38:49.301Z,1751053129.301 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:49.302Z,1751053129.302 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:49.302Z,1751053129.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-06-27T19:38:49.551Z,1751053129.551 [DAT](INFO): DAT read: TxSync time:19:38:48.2166

2025-06-27T19:38:49.552Z,1751053129.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250765
2025-06-27T19:38:49.640Z,1751053129.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:49.643Z,1751053129.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 334.532257 m,
      bearing: 250.064534 deg,
      approach rate: -0.803069 m/s,
      LOS rate: 0.001795 deg/s,
      cmd heading: 246.398746 deg,
      new cmd heading: 246.401110 deg.

2025-06-27T19:38:49.644Z,1751053129.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300511 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:49.803Z,1751053129.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501790
2025-06-27T19:38:50.018Z,1751053130.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:50.021Z,1751053130.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:50.025Z,1751053130.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 334.235413 m,
      bearing: 250.065263 deg,
      approach rate: -0.778555 m/s,
      LOS rate: 0.001913 deg/s,
      cmd heading: 246.401123 deg,
      new cmd heading: 246.403312 deg.

2025-06-27T19:38:50.027Z,1751053130.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300549 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:50.055Z,1751053130.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753835
2025-06-27T19:38:50.307Z,1751053130.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005795
2025-06-27T19:38:50.436Z,1751053130.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:50.444Z,1751053130.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 333.915161 m,
      bearing: 250.066161 deg,
      approach rate: -0.771865 m/s,
      LOS rate: 0.002165 deg/s,
      cmd heading: 246.403309 deg,
      new cmd heading: 246.406004 deg.

2025-06-27T19:38:50.451Z,1751053130.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300596 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:50.560Z,1751053130.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258037
2025-06-27T19:38:50.811Z,1751053130.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509859
2025-06-27T19:38:50.855Z,1751053130.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:50.857Z,1751053130.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 333.602264 m,
      bearing: 250.066870 deg,
      approach rate: -0.754528 m/s,
      LOS rate: 0.001713 deg/s,
      cmd heading: 246.406014 deg,
      new cmd heading: 246.408145 deg.

2025-06-27T19:38:50.863Z,1751053130.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300633 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:51.064Z,1751053131.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762073
2025-06-27T19:38:51.220Z,1751053131.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:51.224Z,1751053131.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 333.311371 m,
      bearing: 250.067539 deg,
      approach rate: -0.786762 m/s,
      LOS rate: 0.001811 deg/s,
      cmd heading: 246.408145 deg,
      new cmd heading: 246.410153 deg.

2025-06-27T19:38:51.225Z,1751053131.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300669 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:51.316Z,1751053131.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014380
2025-06-27T19:38:51.567Z,1751053131.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265812
2025-06-27T19:38:51.656Z,1751053131.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:51.659Z,1751053131.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 332.993042 m,
      bearing: 250.067746 deg,
      approach rate: -0.730156 m/s,
      LOS rate: 0.000475 deg/s,
      cmd heading: 246.410167 deg,
      new cmd heading: 246.410788 deg.

2025-06-27T19:38:51.660Z,1751053131.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300680 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:51.820Z,1751053131.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518070
2025-06-27T19:38:52.039Z,1751053132.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:52.042Z,1751053132.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:52.044Z,1751053132.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 332.711884 m,
      bearing: 250.067903 deg,
      approach rate: -0.729677 m/s,
      LOS rate: 0.000406 deg/s,
      cmd heading: 246.410795 deg,
      new cmd heading: 246.411264 deg.

2025-06-27T19:38:52.045Z,1751053132.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300688 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:52.072Z,1751053132.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770088
2025-06-27T19:38:52.323Z,1751053132.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021742
2025-06-27T19:38:52.445Z,1751053132.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:52.448Z,1751053132.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 332.416779 m,
      bearing: 250.068023 deg,
      approach rate: -0.730897 m/s,
      LOS rate: 0.000297 deg/s,
      cmd heading: 246.411259 deg,
      new cmd heading: 246.411620 deg.

2025-06-27T19:38:52.449Z,1751053132.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300694 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:52.575Z,1751053132.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273950
2025-06-27T19:38:52.828Z,1751053132.828 [DAT](INFO): DAT read: Rx Time:19:38:51.1064

2025-06-27T19:38:52.828Z,1751053132.828 [DAT](INFO): Rx dataTimestamp_ set to:1751053132.827694
2025-06-27T19:38:52.829Z,1751053132.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527023
2025-06-27T19:38:52.889Z,1751053132.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:52.896Z,1751053132.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 332.108917 m,
      bearing: 250.068394 deg,
      approach rate: -0.694174 m/s,
      LOS rate: 0.000839 deg/s,
      cmd heading: 246.411615 deg,
      new cmd heading: 246.412730 deg.

2025-06-27T19:38:52.897Z,1751053132.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300714 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:53.079Z,1751053133.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777788
2025-06-27T19:38:53.283Z,1751053133.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.41 m.
2025-06-27T19:38:53.286Z,1751053133.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 371.409882 m,
      nav range: 331.824219 m,
      bearing: 250.068687 deg,
      approach rate: -0.721863 m/s,
      LOS rate: 0.000744 deg/s,
      cmd heading: 246.412735 deg,
      new cmd heading: 246.413615 deg.

2025-06-27T19:38:53.287Z,1751053133.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300729 target range: 371.409882 and range: 374.80 m.
2025-06-27T19:38:53.340Z,1751053133.340 [DAT](INFO): DAT read: 19:38:51.1064 LVL= 25104, 23457, 23778, 32755, AGC= 70, IDX= 257,-0.14,-1.771, 3.060,-1.915,-2.464, PHS= 0.781,-0.712, 0.546, RAW= 141.6,  -8.9, CAL= 148.2, -18.4, ROT=   1.8,  18.4

2025-06-27T19:38:53.342Z,1751053133.342 [DAT](INFO): got valid direction response:
 19:38:51.1064 LVL= 25104, 23457, 23778, 32755, AGC= 70, IDX= 257,-0.14,-1.771, 3.060,-1.915,-2.464, PHS= 0.781,-0.712, 0.546, RAW= 141.6,  -8.9, CAL= 148.2, -18.4, ROT=   1.8,  18.4

2025-06-27T19:38:53.343Z,1751053133.343 [DAT](INFO): DAT read: Bearing   1.8,  18.4 (Local)

2025-06-27T19:38:53.344Z,1751053133.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  18.4 (Local)

2025-06-27T19:38:53.346Z,1751053133.346 [DAT](INFO): DAT read: Range 10 to 50 : 363.6 m  (Round-trip  484.9 ms) speed  0.5 m/s

2025-06-27T19:38:53.347Z,1751053133.347 [DAT](INFO): DAT read: user:2628>

2025-06-27T19:38:53.348Z,1751053133.348 [DAT](INFO): DAT read: Tx time:19:38:52.2173

2025-06-27T19:38:53.349Z,1751053133.349 [DAT](INFO): Ping request sent.
2025-06-27T19:38:53.349Z,1751053133.349 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:38:53.349Z,1751053133.349 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:38:53.351Z,1751053133.351 [DAT](INFO): direction in FSK: [0.948408,0.029805,-0.315649]
2025-06-27T19:38:53.351Z,1751053133.351 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:53.351Z,1751053133.351 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:53.359Z,1751053133.359 [DAT](INFO): publishing transmit ping time
2025-06-27T19:38:53.360Z,1751053133.360 [DAT](INFO): publishing direction and range info
2025-06-27T19:38:53.586Z,1751053133.586 [DAT](INFO): DAT read: TxSync time:19:38:52.2166

2025-06-27T19:38:53.712Z,1751053133.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 363.600006 m,
      deltaT: 14.868155 s,
      deltaX: -11.199982 m,
      approachRate: -0.753287 m/s,
      rangeRepo size: 4

2025-06-27T19:38:53.719Z,1751053133.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.312622 m,
      bearing: 249.339602 deg,
      lat: 36.906511 deg,
      lon: -122.116380 deg,
      deltaT: 14.868155 s,
      deltaX: -11.097260 m,
      approachRate: -0.746378 m/s,
      posRepo size: 4

2025-06-27T19:38:53.719Z,1751053133.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:53.722Z,1751053133.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 339.397919 m,
      bearing: 248.809649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000744 deg/s,
      cmd heading: 246.413609 deg,
      new cmd heading: 246.414566 deg.

2025-06-27T19:38:53.727Z,1751053133.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300745 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:54.054Z,1751053134.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:54.056Z,1751053134.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:54.059Z,1751053134.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 339.142517 m,
      bearing: 248.809164 deg,
      approach rate: -0.740655 m/s,
      LOS rate: -0.001409 deg/s,
      cmd heading: 246.414565 deg,
      new cmd heading: 246.413108 deg.

2025-06-27T19:38:54.060Z,1751053134.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300720 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:54.088Z,1751053134.088 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:38:54.089Z,1751053134.089 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:38:54.090Z,1751053134.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:38:54.339Z,1751053134.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990350
2025-06-27T19:38:54.457Z,1751053134.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:54.460Z,1751053134.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 338.865356 m,
      bearing: 248.808595 deg,
      approach rate: -0.691563 m/s,
      LOS rate: -0.001420 deg/s,
      cmd heading: 246.413117 deg,
      new cmd heading: 246.411410 deg.

2025-06-27T19:38:54.461Z,1751053134.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300691 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:54.592Z,1751053134.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242765
2025-06-27T19:38:54.843Z,1751053134.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494402
2025-06-27T19:38:54.913Z,1751053134.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:54.917Z,1751053134.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 338.576904 m,
      bearing: 248.806671 deg,
      approach rate: -0.633860 m/s,
      LOS rate: -0.004232 deg/s,
      cmd heading: 246.411423 deg,
      new cmd heading: 246.405645 deg.

2025-06-27T19:38:54.918Z,1751053134.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300590 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:55.096Z,1751053135.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747029
2025-06-27T19:38:55.347Z,1751053135.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998409
2025-06-27T19:38:55.364Z,1751053135.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:55.367Z,1751053135.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 338.236053 m,
      bearing: 248.804281 deg,
      approach rate: -0.753760 m/s,
      LOS rate: -0.005290 deg/s,
      cmd heading: 246.405659 deg,
      new cmd heading: 246.398482 deg.

2025-06-27T19:38:55.368Z,1751053135.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300465 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:55.602Z,1751053135.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252781
2025-06-27T19:38:55.779Z,1751053135.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:55.782Z,1751053135.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 337.943726 m,
      bearing: 248.801887 deg,
      approach rate: -0.704601 m/s,
      LOS rate: -0.005774 deg/s,
      cmd heading: 246.398473 deg,
      new cmd heading: 246.391287 deg.

2025-06-27T19:38:55.783Z,1751053135.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300339 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:55.852Z,1751053135.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502546
2025-06-27T19:38:56.103Z,1751053136.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754291
2025-06-27T19:38:56.206Z,1751053136.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:56.208Z,1751053136.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:56.211Z,1751053136.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 337.641663 m,
      bearing: 248.799381 deg,
      approach rate: -0.704011 m/s,
      LOS rate: -0.005847 deg/s,
      cmd heading: 246.391288 deg,
      new cmd heading: 246.383762 deg.

2025-06-27T19:38:56.212Z,1751053136.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300208 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:56.355Z,1751053136.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006332
2025-06-27T19:38:56.611Z,1751053136.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260835
2025-06-27T19:38:56.689Z,1751053136.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:56.716Z,1751053136.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 337.299133 m,
      bearing: 248.796441 deg,
      approach rate: -0.717058 m/s,
      LOS rate: -0.006161 deg/s,
      cmd heading: 246.383775 deg,
      new cmd heading: 246.374946 deg.

2025-06-27T19:38:56.717Z,1751053136.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300054 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:56.860Z,1751053136.860 [DAT](INFO): DAT read: Rx Time:19:38:55.1023

2025-06-27T19:38:56.861Z,1751053136.861 [DAT](INFO): Rx dataTimestamp_ set to:1751053136.860482
2025-06-27T19:38:56.861Z,1751053136.861 [DAT](INFO): DAT read: $Low SNR acquisition

2025-06-27T19:38:56.862Z,1751053136.862 [DAT](INFO): Received low SNR in chirp
2025-06-27T19:38:56.875Z,1751053136.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525839
2025-06-27T19:38:57.067Z,1751053137.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:57.069Z,1751053137.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 337.020508 m,
      bearing: 248.794045 deg,
      approach rate: -0.732227 m/s,
      LOS rate: -0.006302 deg/s,
      cmd heading: 246.374950 deg,
      new cmd heading: 246.367757 deg.

2025-06-27T19:38:57.071Z,1751053137.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299929 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:57.112Z,1751053137.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763047
2025-06-27T19:38:57.363Z,1751053137.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014383
2025-06-27T19:38:57.453Z,1751053137.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:57.456Z,1751053137.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 336.740662 m,
      bearing: 248.791691 deg,
      approach rate: -0.724108 m/s,
      LOS rate: -0.006095 deg/s,
      cmd heading: 246.367765 deg,
      new cmd heading: 246.360698 deg.

2025-06-27T19:38:57.457Z,1751053137.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299805 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:57.618Z,1751053137.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268321
2025-06-27T19:38:57.867Z,1751053137.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518443
2025-06-27T19:38:57.896Z,1751053137.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:57.899Z,1751053137.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 336.414673 m,
      bearing: 248.789251 deg,
      approach rate: -0.736921 m/s,
      LOS rate: -0.005523 deg/s,
      cmd heading: 246.360689 deg,
      new cmd heading: 246.353359 deg.

2025-06-27T19:38:57.900Z,1751053137.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299677 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:58.119Z,1751053138.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.770374
2025-06-27T19:38:58.284Z,1751053138.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:38:58.288Z,1751053138.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:58.294Z,1751053138.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 336.131409 m,
      bearing: 248.787141 deg,
      approach rate: -0.722119 m/s,
      LOS rate: -0.005384 deg/s,
      cmd heading: 246.353367 deg,
      new cmd heading: 246.347031 deg.

2025-06-27T19:38:58.296Z,1751053138.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299567 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:58.372Z,1751053138.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023055
2025-06-27T19:38:58.626Z,1751053138.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.276786
2025-06-27T19:38:58.727Z,1751053138.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:58.730Z,1751053138.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 335.800873 m,
      bearing: 248.786111 deg,
      approach rate: -0.752593 m/s,
      LOS rate: -0.002346 deg/s,
      cmd heading: 246.347028 deg,
      new cmd heading: 246.343937 deg.

2025-06-27T19:38:58.739Z,1751053138.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299513 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:58.875Z,1751053138.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.526449
2025-06-27T19:38:59.069Z,1751053139.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:59.072Z,1751053139.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 335.530609 m,
      bearing: 248.785291 deg,
      approach rate: -0.788999 m/s,
      LOS rate: -0.002397 deg/s,
      cmd heading: 246.343941 deg,
      new cmd heading: 246.341477 deg.

2025-06-27T19:38:59.073Z,1751053139.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299470 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:59.128Z,1751053139.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779398
2025-06-27T19:38:59.379Z,1751053139.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030320
2025-06-27T19:38:59.472Z,1751053139.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:59.490Z,1751053139.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 335.224579 m,
      bearing: 248.784403 deg,
      approach rate: -0.761137 m/s,
      LOS rate: -0.002210 deg/s,
      cmd heading: 246.341482 deg,
      new cmd heading: 246.338816 deg.

2025-06-27T19:38:59.491Z,1751053139.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299423 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:38:59.634Z,1751053139.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284399
2025-06-27T19:38:59.883Z,1751053139.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534331
2025-06-27T19:38:59.970Z,1751053139.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:38:59.973Z,1751053139.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 334.842194 m,
      bearing: 248.784529 deg,
      approach rate: -0.767240 m/s,
      LOS rate: 0.000253 deg/s,
      cmd heading: 246.338805 deg,
      new cmd heading: 246.339183 deg.

2025-06-27T19:38:59.974Z,1751053139.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299430 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:00.135Z,1751053140.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786265
2025-06-27T19:39:00.284Z,1751053140.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:00.287Z,1751053140.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:00.289Z,1751053140.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 334.599548 m,
      bearing: 248.784655 deg,
      approach rate: -0.766291 m/s,
      LOS rate: 0.000398 deg/s,
      cmd heading: 246.339187 deg,
      new cmd heading: 246.339565 deg.

2025-06-27T19:39:00.291Z,1751053140.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299437 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:00.389Z,1751053140.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.040270
2025-06-27T19:39:00.642Z,1751053140.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292281
2025-06-27T19:39:00.753Z,1751053140.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:00.755Z,1751053140.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 334.236084 m,
      bearing: 248.786859 deg,
      approach rate: -0.780107 m/s,
      LOS rate: 0.004737 deg/s,
      cmd heading: 246.339570 deg,
      new cmd heading: 246.346191 deg.

2025-06-27T19:39:00.756Z,1751053140.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299552 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:00.891Z,1751053140.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.542315
2025-06-27T19:39:01.143Z,1751053141.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.794363
2025-06-27T19:39:01.174Z,1751053141.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:01.177Z,1751053141.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 333.907867 m,
      bearing: 248.788872 deg,
      approach rate: -0.778888 m/s,
      LOS rate: 0.004780 deg/s,
      cmd heading: 246.346181 deg,
      new cmd heading: 246.352224 deg.

2025-06-27T19:39:01.179Z,1751053141.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299657 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:01.396Z,1751053141.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.046700
2025-06-27T19:39:01.503Z,1751053141.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:01.506Z,1751053141.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 333.650665 m,
      bearing: 248.790463 deg,
      approach rate: -0.780597 m/s,
      LOS rate: 0.004832 deg/s,
      cmd heading: 246.352219 deg,
      new cmd heading: 246.356996 deg.

2025-06-27T19:39:01.507Z,1751053141.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299741 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:01.652Z,1751053141.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.302007
2025-06-27T19:39:01.899Z,1751053141.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550409
2025-06-27T19:39:01.961Z,1751053141.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:01.964Z,1751053141.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 333.296631 m,
      bearing: 248.792589 deg,
      approach rate: -0.773356 m/s,
      LOS rate: 0.004651 deg/s,
      cmd heading: 246.357000 deg,
      new cmd heading: 246.363388 deg.

2025-06-27T19:39:01.965Z,1751053141.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299852 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:02.151Z,1751053142.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802293
2025-06-27T19:39:02.316Z,1751053142.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:02.319Z,1751053142.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:02.322Z,1751053142.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 333.020386 m,
      bearing: 248.794255 deg,
      approach rate: -0.773044 m/s,
      LOS rate: 0.004664 deg/s,
      cmd heading: 246.363393 deg,
      new cmd heading: 246.368393 deg.

2025-06-27T19:39:02.323Z,1751053142.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299940 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:02.404Z,1751053142.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.054857
2025-06-27T19:39:02.658Z,1751053142.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.308129
2025-06-27T19:39:02.763Z,1751053142.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:02.765Z,1751053142.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 332.681824 m,
      bearing: 248.795950 deg,
      approach rate: -0.761998 m/s,
      LOS rate: 0.003819 deg/s,
      cmd heading: 246.368393 deg,
      new cmd heading: 246.373484 deg.

2025-06-27T19:39:02.767Z,1751053142.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300028 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:02.907Z,1751053142.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558392
2025-06-27T19:39:03.123Z,1751053143.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:03.125Z,1751053143.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 332.407745 m,
      bearing: 248.797321 deg,
      approach rate: -0.762207 m/s,
      LOS rate: 0.003815 deg/s,
      cmd heading: 246.373475 deg,
      new cmd heading: 246.377591 deg.

2025-06-27T19:39:03.126Z,1751053143.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300100 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:03.160Z,1751053143.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.810507
2025-06-27T19:39:03.411Z,1751053143.411 [DAT](INFO): Reached modem response timeout
2025-06-27T19:39:03.411Z,1751053143.411 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:39:03.411Z,1751053143.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:03.514Z,1751053143.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:03.517Z,1751053143.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 332.109558 m,
      bearing: 248.798803 deg,
      approach rate: -0.761581 m/s,
      LOS rate: 0.003790 deg/s,
      cmd heading: 246.377600 deg,
      new cmd heading: 246.382052 deg.

2025-06-27T19:39:03.518Z,1751053143.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300178 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:03.663Z,1751053143.663 [DAT](INFO): Reached modem response timeout
2025-06-27T19:39:03.663Z,1751053143.663 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:39:03.664Z,1751053143.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:03.916Z,1751053143.916 [DAT](INFO): Reached modem response timeout
2025-06-27T19:39:03.916Z,1751053143.916 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:39:03.917Z,1751053143.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:03.982Z,1751053143.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:03.989Z,1751053143.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 331.754395 m,
      bearing: 248.799451 deg,
      approach rate: -0.759062 m/s,
      LOS rate: 0.001386 deg/s,
      cmd heading: 246.382053 deg,
      new cmd heading: 246.383999 deg.

2025-06-27T19:39:03.995Z,1751053143.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300212 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:04.167Z,1751053144.167 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:39:04.168Z,1751053144.168 [DAT](INFO): response not received
2025-06-27T19:39:04.168Z,1751053144.168 [DAT](INFO): DAT read: user:2630>

2025-06-27T19:39:04.168Z,1751053144.168 [DAT](ERROR): No response from remote modem.
2025-06-27T19:39:04.169Z,1751053144.169 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:39:04.169Z,1751053144.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:04.318Z,1751053144.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:04.320Z,1751053144.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:04.323Z,1751053144.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 331.497803 m,
      bearing: 248.799939 deg,
      approach rate: -0.758656 m/s,
      LOS rate: 0.001444 deg/s,
      cmd heading: 246.383993 deg,
      new cmd heading: 246.385458 deg.

2025-06-27T19:39:04.324Z,1751053144.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300238 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:04.421Z,1751053144.421 [DAT](INFO): DAT read: Tx time:19:39:03.1674

2025-06-27T19:39:04.422Z,1751053144.422 [DAT](INFO): Ping request sent.
2025-06-27T19:39:04.422Z,1751053144.422 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:04.423Z,1751053144.423 [DAT](INFO): DAT read: TxSync time:19:39:03.1666

2025-06-27T19:39:04.423Z,1751053144.423 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:04.424Z,1751053144.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001757
2025-06-27T19:39:04.678Z,1751053144.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255446
2025-06-27T19:39:04.789Z,1751053144.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:04.792Z,1751053144.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 331.144440 m,
      bearing: 248.800405 deg,
      approach rate: -0.753650 m/s,
      LOS rate: 0.000995 deg/s,
      cmd heading: 246.385469 deg,
      new cmd heading: 246.386867 deg.

2025-06-27T19:39:04.793Z,1751053144.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300262 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:04.927Z,1751053144.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505514
2025-06-27T19:39:05.161Z,1751053145.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:05.164Z,1751053145.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 330.874176 m,
      bearing: 248.800762 deg,
      approach rate: -0.725924 m/s,
      LOS rate: 0.000960 deg/s,
      cmd heading: 246.386862 deg,
      new cmd heading: 246.387934 deg.

2025-06-27T19:39:05.165Z,1751053145.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300281 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:05.179Z,1751053145.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757638
2025-06-27T19:39:05.431Z,1751053145.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009477
2025-06-27T19:39:05.541Z,1751053145.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:05.544Z,1751053145.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 330.581818 m,
      bearing: 248.801121 deg,
      approach rate: -0.770640 m/s,
      LOS rate: 0.000948 deg/s,
      cmd heading: 246.387927 deg,
      new cmd heading: 246.389006 deg.

2025-06-27T19:39:05.544Z,1751053145.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300299 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:05.686Z,1751053145.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263960
2025-06-27T19:39:05.936Z,1751053145.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514337
2025-06-27T19:39:05.994Z,1751053145.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:06.003Z,1751053146.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 330.250519 m,
      bearing: 248.801067 deg,
      approach rate: -0.737559 m/s,
      LOS rate: -0.000121 deg/s,
      cmd heading: 246.388993 deg,
      new cmd heading: 246.388831 deg.

2025-06-27T19:39:06.005Z,1751053146.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300296 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:06.189Z,1751053146.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766522
2025-06-27T19:39:06.348Z,1751053146.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:06.350Z,1751053146.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:06.353Z,1751053146.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 329.976501 m,
      bearing: 248.801053 deg,
      approach rate: -0.760608 m/s,
      LOS rate: -0.000039 deg/s,
      cmd heading: 246.388829 deg,
      new cmd heading: 246.388787 deg.

2025-06-27T19:39:06.354Z,1751053146.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300295 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:06.440Z,1751053146.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017737
2025-06-27T19:39:06.691Z,1751053146.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269428
2025-06-27T19:39:06.826Z,1751053146.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:06.833Z,1751053146.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 329.632019 m,
      bearing: 248.799302 deg,
      approach rate: -0.723765 m/s,
      LOS rate: -0.003683 deg/s,
      cmd heading: 246.388774 deg,
      new cmd heading: 246.383516 deg.

2025-06-27T19:39:06.834Z,1751053146.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300204 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:06.944Z,1751053146.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521733
2025-06-27T19:39:07.156Z,1751053147.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:07.158Z,1751053147.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 329.373413 m,
      bearing: 248.797965 deg,
      approach rate: -0.784632 m/s,
      LOS rate: -0.004061 deg/s,
      cmd heading: 246.383529 deg,
      new cmd heading: 246.379514 deg.

2025-06-27T19:39:07.159Z,1751053147.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300134 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:07.196Z,1751053147.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774367
2025-06-27T19:39:07.447Z,1751053147.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025552
2025-06-27T19:39:07.551Z,1751053147.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:07.554Z,1751053147.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 329.077454 m,
      bearing: 248.796421 deg,
      approach rate: -0.747837 m/s,
      LOS rate: -0.003905 deg/s,
      cmd heading: 246.379513 deg,
      new cmd heading: 246.374876 deg.

2025-06-27T19:39:07.571Z,1751053147.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300053 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:07.699Z,1751053147.699 [DAT](INFO): DAT read: Rx Time:19:39:06.0429

2025-06-27T19:39:07.700Z,1751053147.700 [DAT](INFO): Rx dataTimestamp_ set to:1751053147.699542
2025-06-27T19:39:07.700Z,1751053147.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278545
2025-06-27T19:39:07.951Z,1751053147.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529629
2025-06-27T19:39:07.997Z,1751053147.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.31 m.
2025-06-27T19:39:08.002Z,1751053148.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.312622 m,
      nav range: 328.752716 m,
      bearing: 248.794933 deg,
      approach rate: -0.728794 m/s,
      LOS rate: -0.003343 deg/s,
      cmd heading: 246.374868 deg,
      new cmd heading: 246.370400 deg.

2025-06-27T19:39:08.003Z,1751053148.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299974 target range: 360.312622 and range: 363.60 m.
2025-06-27T19:39:08.212Z,1751053148.212 [DAT](INFO): DAT read: 19:39:06.0429 LVL= 24048, 29537, 23858, 32755, AGC= 69, IDX= 342,-0.49,-1.792, 2.905,-1.903,-2.666, PHS= 0.961,-0.665, 0.760, RAW= 143.5, -13.7, CAL= 150.2, -22.3, ROT= 359.8,  22.3

2025-06-27T19:39:08.213Z,1751053148.213 [DAT](INFO): got valid direction response:
 19:39:06.0429 LVL= 24048, 29537, 23858, 32755, AGC= 69, IDX= 342,-0.49,-1.792, 2.905,-1.903,-2.666, PHS= 0.961,-0.665, 0.760, RAW= 143.5, -13.7, CAL= 150.2, -22.3, ROT= 359.8,  22.3

2025-06-27T19:39:08.215Z,1751053148.215 [DAT](INFO): DAT read: Range 10 to 50 : 353.4 m  (Round-trip  471.2 ms) speed  0.4 m/s

2025-06-27T19:39:08.217Z,1751053148.217 [DAT](INFO): DAT read: user:2631>

2025-06-27T19:39:08.218Z,1751053148.218 [DAT](INFO): DAT read: Tx time:19:39:07.1675

2025-06-27T19:39:08.218Z,1751053148.218 [DAT](INFO): Ping request sent.
2025-06-27T19:39:08.218Z,1751053148.218 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:08.219Z,1751053148.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:08.220Z,1751053148.220 [DAT](INFO): direction in FSK: [0.925204,-0.003230,-0.379456]
2025-06-27T19:39:08.221Z,1751053148.221 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:08.221Z,1751053148.221 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:08.224Z,1751053148.224 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:08.224Z,1751053148.224 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:08.448Z,1751053148.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 353.399994 m,
      deltaT: 14.873879 s,
      deltaX: -10.200012 m,
      approachRate: -0.685767 m/s,
      rangeRepo size: 4

2025-06-27T19:39:08.456Z,1751053148.456 [DAT](INFO): DAT read: TxSync time:19:39:07.1667

2025-06-27T19:39:08.456Z,1751053148.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.205109 m,
      bearing: 247.546211 deg,
      lat: 36.906511 deg,
      lon: -122.116385 deg,
      deltaT: 14.873879 s,
      deltaX: -10.107513 m,
      approachRate: -0.679548 m/s,
      posRepo size: 4

2025-06-27T19:39:08.457Z,1751053148.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:08.464Z,1751053148.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 328.865875 m,
      bearing: 248.822173 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003343 deg/s,
      cmd heading: 246.370388 deg,
      new cmd heading: 246.365928 deg.

2025-06-27T19:39:08.465Z,1751053148.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299897 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:08.875Z,1751053148.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:08.882Z,1751053148.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:08.885Z,1751053148.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 328.534607 m,
      bearing: 248.820756 deg,
      approach rate: -0.758885 m/s,
      LOS rate: -0.003248 deg/s,
      cmd heading: 246.365934 deg,
      new cmd heading: 246.361680 deg.

2025-06-27T19:39:08.886Z,1751053148.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299822 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:08.961Z,1751053148.961 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:08.961Z,1751053148.961 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:08.961Z,1751053148.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:09.168Z,1751053149.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:09.171Z,1751053149.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 328.314056 m,
      bearing: 248.819840 deg,
      approach rate: -0.760228 m/s,
      LOS rate: -0.003161 deg/s,
      cmd heading: 246.361672 deg,
      new cmd heading: 246.358921 deg.

2025-06-27T19:39:09.172Z,1751053149.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299774 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:09.211Z,1751053149.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993434
2025-06-27T19:39:09.463Z,1751053149.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245286
2025-06-27T19:39:09.597Z,1751053149.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:09.600Z,1751053149.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 328.002716 m,
      bearing: 248.818594 deg,
      approach rate: -0.726728 m/s,
      LOS rate: -0.002911 deg/s,
      cmd heading: 246.358913 deg,
      new cmd heading: 246.355172 deg.

2025-06-27T19:39:09.601Z,1751053149.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299709 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:09.715Z,1751053149.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497353
2025-06-27T19:39:09.968Z,1751053149.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749597
2025-06-27T19:39:10.023Z,1751053150.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:10.031Z,1751053150.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 327.706268 m,
      bearing: 248.818233 deg,
      approach rate: -0.730730 m/s,
      LOS rate: -0.000890 deg/s,
      cmd heading: 246.355170 deg,
      new cmd heading: 246.354087 deg.

2025-06-27T19:39:10.032Z,1751053150.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299690 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:10.220Z,1751053150.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001638
2025-06-27T19:39:10.388Z,1751053150.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:10.391Z,1751053150.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 327.421295 m,
      bearing: 248.817827 deg,
      approach rate: -0.738824 m/s,
      LOS rate: -0.001055 deg/s,
      cmd heading: 246.354077 deg,
      new cmd heading: 246.352856 deg.

2025-06-27T19:39:10.392Z,1751053150.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299668 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:10.472Z,1751053150.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253554
2025-06-27T19:39:10.723Z,1751053150.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505312
2025-06-27T19:39:10.841Z,1751053150.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:10.856Z,1751053150.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 327.090729 m,
      bearing: 248.817304 deg,
      approach rate: -0.729861 m/s,
      LOS rate: -0.001155 deg/s,
      cmd heading: 246.352848 deg,
      new cmd heading: 246.351278 deg.

2025-06-27T19:39:10.857Z,1751053150.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299641 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:10.976Z,1751053150.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758046
2025-06-27T19:39:11.227Z,1751053151.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009149
2025-06-27T19:39:11.230Z,1751053151.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:11.236Z,1751053151.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:11.243Z,1751053151.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 326.817749 m,
      bearing: 248.817106 deg,
      approach rate: -0.690462 m/s,
      LOS rate: -0.000500 deg/s,
      cmd heading: 246.351290 deg,
      new cmd heading: 246.350697 deg.

2025-06-27T19:39:11.244Z,1751053151.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299631 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:11.480Z,1751053151.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261898
2025-06-27T19:39:11.606Z,1751053151.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:11.608Z,1751053151.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 326.537231 m,
      bearing: 248.816892 deg,
      approach rate: -0.759833 m/s,
      LOS rate: -0.000581 deg/s,
      cmd heading: 246.350689 deg,
      new cmd heading: 246.350046 deg.

2025-06-27T19:39:11.609Z,1751053151.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299619 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:11.731Z,1751053151.731 [DAT](INFO): DAT read: Rx Time:19:39:10.0404

2025-06-27T19:39:11.732Z,1751053151.732 [DAT](INFO): Rx dataTimestamp_ set to:1751053151.731577
2025-06-27T19:39:11.732Z,1751053151.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514382
2025-06-27T19:39:11.983Z,1751053151.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765304
2025-06-27T19:39:12.044Z,1751053152.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.21 m.
2025-06-27T19:39:12.047Z,1751053152.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.205109 m,
      nav range: 326.211884 m,
      bearing: 248.817060 deg,
      approach rate: -0.741512 m/s,
      LOS rate: 0.000382 deg/s,
      cmd heading: 246.350034 deg,
      new cmd heading: 246.350536 deg.

2025-06-27T19:39:12.048Z,1751053152.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299628 target range: 350.205109 and range: 353.40 m.
2025-06-27T19:39:12.246Z,1751053152.246 [DAT](INFO): DAT read: 19:39:10.0404 LVL= 24528, 30433, 26578, 32755, AGC= 67, IDX= 250, 0.32,-0.449,-2.190,-0.879,-1.171, PHS= 0.810,-0.971, 0.289, RAW= 133.5,  -1.6, CAL= 139.0, -11.0, ROT=  11.0,  11.0

2025-06-27T19:39:12.251Z,1751053152.251 [DAT](INFO): got valid direction response:
 19:39:10.0404 LVL= 24528, 30433, 26578, 32755, AGC= 67, IDX= 250, 0.32,-0.449,-2.190,-0.879,-1.171, PHS= 0.810,-0.971, 0.289, RAW= 133.5,  -1.6, CAL= 139.0, -11.0, ROT=  11.0,  11.0

2025-06-27T19:39:12.252Z,1751053152.252 [DAT](INFO): DAT read: Bearing  11.0,  11.0 (Local)

2025-06-27T19:39:12.253Z,1751053152.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.0,  11.0 (Local)

2025-06-27T19:39:12.255Z,1751053152.255 [DAT](INFO): DAT read: Range 10 to 50 : 351.5 m  (Round-trip  468.7 ms) speed  0.5 m/s

2025-06-27T19:39:12.255Z,1751053152.255 [DAT](INFO): DAT read: user:2632>

2025-06-27T19:39:12.256Z,1751053152.256 [DAT](INFO): DAT read: Tx time:19:39:11.1675

2025-06-27T19:39:12.256Z,1751053152.256 [DAT](INFO): Ping request sent.
2025-06-27T19:39:12.256Z,1751053152.256 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:12.257Z,1751053152.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:12.258Z,1751053152.258 [DAT](INFO): direction in FSK: [0.963592,0.187303,-0.190809]
2025-06-27T19:39:12.258Z,1751053152.258 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:12.258Z,1751053152.258 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:12.261Z,1751053152.261 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:12.262Z,1751053152.262 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:12.438Z,1751053152.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 351.500000 m,
      deltaT: 4.032091 s,
      deltaX: -1.899994 m,
      approachRate: -0.471218 m/s,
      rangeRepo size: 4

2025-06-27T19:39:12.444Z,1751053152.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.317841 m,
      bearing: 257.685159 deg,
      lat: 36.906660 deg,
      lon: -122.116480 deg,
      deltaT: 4.032091 s,
      deltaX: -1.887268 m,
      approachRate: -0.468062 m/s,
      posRepo size: 4

2025-06-27T19:39:12.445Z,1751053152.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:12.451Z,1751053152.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 328.364471 m,
      bearing: 252.048685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000382 deg/s,
      cmd heading: 246.350525 deg,
      new cmd heading: 246.350975 deg.

2025-06-27T19:39:12.452Z,1751053152.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299635 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:12.487Z,1751053152.487 [DAT](INFO): DAT read: TxSync time:19:39:11.1667

2025-06-27T19:39:12.875Z,1751053152.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:12.877Z,1751053152.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 328.044098 m,
      bearing: 252.052059 deg,
      approach rate: -0.733025 m/s,
      LOS rate: 0.007726 deg/s,
      cmd heading: 246.350962 deg,
      new cmd heading: 246.361093 deg.

2025-06-27T19:39:12.879Z,1751053152.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299812 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:13.291Z,1751053153.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:13.293Z,1751053153.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:13.296Z,1751053153.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 327.716736 m,
      bearing: 252.055514 deg,
      approach rate: -0.780990 m/s,
      LOS rate: 0.008252 deg/s,
      cmd heading: 246.361098 deg,
      new cmd heading: 246.371475 deg.

2025-06-27T19:39:13.297Z,1751053153.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299994 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:13.496Z,1751053153.496 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:13.496Z,1751053153.496 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:13.497Z,1751053153.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:13.706Z,1751053153.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:13.724Z,1751053153.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 327.406891 m,
      bearing: 252.058789 deg,
      approach rate: -0.751072 m/s,
      LOS rate: 0.007945 deg/s,
      cmd heading: 246.371480 deg,
      new cmd heading: 246.381313 deg.

2025-06-27T19:39:13.725Z,1751053153.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300165 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:13.747Z,1751053153.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490893
2025-06-27T19:39:14.000Z,1751053154.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743547
2025-06-27T19:39:14.138Z,1751053154.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:14.141Z,1751053154.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 327.089081 m,
      bearing: 252.063247 deg,
      approach rate: -0.735477 m/s,
      LOS rate: 0.010327 deg/s,
      cmd heading: 246.381316 deg,
      new cmd heading: 246.394703 deg.

2025-06-27T19:39:14.142Z,1751053154.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300399 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:14.147Z,1751053154.147 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:39:14.251Z,1751053154.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994895
2025-06-27T19:39:14.504Z,1751053154.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247232
2025-06-27T19:39:14.650Z,1751053154.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:14.653Z,1751053154.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 326.712830 m,
      bearing: 252.068589 deg,
      approach rate: -0.734364 m/s,
      LOS rate: 0.010439 deg/s,
      cmd heading: 246.394703 deg,
      new cmd heading: 246.410749 deg.

2025-06-27T19:39:14.654Z,1751053154.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300679 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:14.756Z,1751053154.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499628
2025-06-27T19:39:15.011Z,1751053155.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753439
2025-06-27T19:39:15.055Z,1751053155.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:15.058Z,1751053155.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 326.427338 m,
      bearing: 252.072007 deg,
      approach rate: -0.711026 m/s,
      LOS rate: 0.008518 deg/s,
      cmd heading: 246.410740 deg,
      new cmd heading: 246.421001 deg.

2025-06-27T19:39:15.059Z,1751053155.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.300858 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:15.151Z,1751053155.151 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:39:15.259Z,1751053155.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002852
2025-06-27T19:39:15.410Z,1751053155.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:15.423Z,1751053155.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:15.425Z,1751053155.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 326.172394 m,
      bearing: 252.075029 deg,
      approach rate: -0.694927 m/s,
      LOS rate: 0.008244 deg/s,
      cmd heading: 246.421013 deg,
      new cmd heading: 246.430086 deg.

2025-06-27T19:39:15.431Z,1751053155.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301016 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:15.512Z,1751053155.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255978
2025-06-27T19:39:15.763Z,1751053155.763 [DAT](INFO): DAT read: Rx Time:19:39:14.0352

2025-06-27T19:39:15.764Z,1751053155.764 [DAT](INFO): Rx dataTimestamp_ set to:1751053155.763582
2025-06-27T19:39:15.764Z,1751053155.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507989
2025-06-27T19:39:15.828Z,1751053155.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:15.842Z,1751053155.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 325.881744 m,
      bearing: 252.078402 deg,
      approach rate: -0.708904 m/s,
      LOS rate: 0.008235 deg/s,
      cmd heading: 246.430083 deg,
      new cmd heading: 246.440212 deg.

2025-06-27T19:39:15.843Z,1751053155.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301193 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:16.016Z,1751053156.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759636
2025-06-27T19:39:16.243Z,1751053156.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.32 m.
2025-06-27T19:39:16.246Z,1751053156.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.317841 m,
      nav range: 325.559387 m,
      bearing: 252.082076 deg,
      approach rate: -0.777227 m/s,
      LOS rate: 0.008867 deg/s,
      cmd heading: 246.440219 deg,
      new cmd heading: 246.451252 deg.

2025-06-27T19:39:16.264Z,1751053156.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301386 target range: 348.317841 and range: 351.50 m.
2025-06-27T19:39:16.274Z,1751053156.274 [DAT](INFO): DAT read: 19:39:14.0352 LVL= 31536, 32753, 32530, 32755, AGC= 69, IDX= 391,-0.45, 1.181,-0.214, 1.029, 0.503, PHS= 0.766,-0.670, 0.523, RAW= 140.9,  -9.3, CAL= 147.6, -19.1, ROT=   2.4,  19.1

2025-06-27T19:39:16.275Z,1751053156.275 [DAT](INFO): got valid direction response:
 19:39:14.0352 LVL= 31536, 32753, 32530, 32755, AGC= 69, IDX= 391,-0.45, 1.181,-0.214, 1.029, 0.503, PHS= 0.766,-0.670, 0.523, RAW= 140.9,  -9.3, CAL= 147.6, -19.1, ROT=   2.4,  19.1

2025-06-27T19:39:16.276Z,1751053156.276 [DAT](INFO): DAT read: Bearing   2.4,  19.1 (Local)

2025-06-27T19:39:16.277Z,1751053156.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  19.1 (Local)

2025-06-27T19:39:16.279Z,1751053156.279 [DAT](INFO): DAT read: Range 10 to 50 : 347.6 m  (Round-trip  463.5 ms) speed  0.9 m/s

2025-06-27T19:39:16.280Z,1751053156.280 [DAT](INFO): DAT read: user:2633>

2025-06-27T19:39:16.281Z,1751053156.281 [DAT](INFO): DAT read: Tx time:19:39:15.1175

2025-06-27T19:39:16.281Z,1751053156.281 [DAT](INFO): Ping request sent.
2025-06-27T19:39:16.281Z,1751053156.281 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:16.281Z,1751053156.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:16.282Z,1751053156.282 [DAT](INFO): direction in FSK: [0.944120,0.039570,-0.327218]
2025-06-27T19:39:16.283Z,1751053156.283 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:16.283Z,1751053156.283 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:16.286Z,1751053156.286 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:16.286Z,1751053156.286 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:16.520Z,1751053156.520 [DAT](INFO): DAT read: TxSync time:19:39:15.1167

2025-06-27T19:39:16.648Z,1751053156.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 347.600006 m,
      deltaT: 4.029950 s,
      deltaX: -3.899994 m,
      approachRate: -0.967752 m/s,
      rangeRepo size: 4

2025-06-27T19:39:16.655Z,1751053156.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 344.453766 m,
      bearing: 250.005701 deg,
      lat: 36.906541 deg,
      lon: -122.116502 deg,
      deltaT: 4.029950 s,
      deltaX: -3.864075 m,
      approachRate: -0.958839 m/s,
      posRepo size: 4

2025-06-27T19:39:16.655Z,1751053156.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:16.658Z,1751053156.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 331.387634 m,
      bearing: 250.006877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008867 deg/s,
      cmd heading: 246.451257 deg,
      new cmd heading: 246.462015 deg.

2025-06-27T19:39:16.663Z,1751053156.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301574 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:17.046Z,1751053157.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:17.049Z,1751053157.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 331.080811 m,
      bearing: 250.008448 deg,
      approach rate: -0.770409 m/s,
      LOS rate: 0.003950 deg/s,
      cmd heading: 246.462021 deg,
      new cmd heading: 246.466740 deg.

2025-06-27T19:39:17.050Z,1751053157.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301656 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:17.422Z,1751053157.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:17.425Z,1751053157.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:17.428Z,1751053157.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 330.808044 m,
      bearing: 250.009818 deg,
      approach rate: -0.720302 m/s,
      LOS rate: 0.003620 deg/s,
      cmd heading: 246.466748 deg,
      new cmd heading: 246.470861 deg.

2025-06-27T19:39:17.429Z,1751053157.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301728 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:17.527Z,1751053157.527 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:17.527Z,1751053157.527 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:17.528Z,1751053157.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:17.779Z,1751053157.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498383
2025-06-27T19:39:17.845Z,1751053157.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:17.848Z,1751053157.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 330.506927 m,
      bearing: 250.011250 deg,
      approach rate: -0.721024 m/s,
      LOS rate: 0.003432 deg/s,
      cmd heading: 246.470873 deg,
      new cmd heading: 246.475174 deg.

2025-06-27T19:39:17.849Z,1751053157.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301803 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:18.031Z,1751053158.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750248
2025-06-27T19:39:18.278Z,1751053158.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:18.281Z,1751053158.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 330.210419 m,
      bearing: 250.011786 deg,
      approach rate: -0.686388 m/s,
      LOS rate: 0.001241 deg/s,
      cmd heading: 246.475163 deg,
      new cmd heading: 246.476771 deg.

2025-06-27T19:39:18.282Z,1751053158.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301831 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:18.283Z,1751053158.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002421
2025-06-27T19:39:18.535Z,1751053158.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254324
2025-06-27T19:39:18.641Z,1751053158.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:18.644Z,1751053158.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 329.926453 m,
      bearing: 250.012246 deg,
      approach rate: -0.775114 m/s,
      LOS rate: 0.001257 deg/s,
      cmd heading: 246.476775 deg,
      new cmd heading: 246.478156 deg.

2025-06-27T19:39:18.645Z,1751053158.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301856 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:18.787Z,1751053158.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506257
2025-06-27T19:39:19.039Z,1751053159.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758357
2025-06-27T19:39:19.109Z,1751053159.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:19.136Z,1751053159.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 329.613861 m,
      bearing: 250.011950 deg,
      approach rate: -0.667205 m/s,
      LOS rate: -0.000633 deg/s,
      cmd heading: 246.478168 deg,
      new cmd heading: 246.477278 deg.

2025-06-27T19:39:19.137Z,1751053159.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301840 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:19.291Z,1751053159.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010274
2025-06-27T19:39:19.441Z,1751053159.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:19.443Z,1751053159.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:19.446Z,1751053159.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 329.340485 m,
      bearing: 250.011662 deg,
      approach rate: -0.818762 m/s,
      LOS rate: -0.000862 deg/s,
      cmd heading: 246.477266 deg,
      new cmd heading: 246.476403 deg.

2025-06-27T19:39:19.447Z,1751053159.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301825 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:19.545Z,1751053159.545 [DAT](INFO): DAT read: Rx Time:19:39:17.9812

2025-06-27T19:39:19.545Z,1751053159.545 [DAT](INFO): Rx dataTimestamp_ set to:1751053159.545027
2025-06-27T19:39:19.546Z,1751053159.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264801
2025-06-27T19:39:19.795Z,1751053159.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514168
2025-06-27T19:39:19.864Z,1751053159.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:19.873Z,1751053159.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 329.044373 m,
      bearing: 250.011321 deg,
      approach rate: -0.703891 m/s,
      LOS rate: -0.000813 deg/s,
      cmd heading: 246.476392 deg,
      new cmd heading: 246.475366 deg.

2025-06-27T19:39:19.874Z,1751053159.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301806 target range: 344.453766 and range: 347.60 m.
2025-06-27T19:39:20.048Z,1751053160.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766725
2025-06-27T19:39:20.307Z,1751053160.307 [DAT](INFO): DAT read: 19:39:17.9812 LVL= 25680, 32753, 28786, 32755, AGC= 69, IDX= 396,-0.23,-1.383,-2.711,-1.458,-2.068, PHS= 0.773,-0.596, 0.607, RAW= 143.6, -12.1, CAL= 150.6, -21.0, ROT= 359.4,  21.0

2025-06-27T19:39:20.308Z,1751053160.308 [DAT](INFO): got valid direction response:
 19:39:17.9812 LVL= 25680, 32753, 28786, 32755, AGC= 69, IDX= 396,-0.23,-1.383,-2.711,-1.458,-2.068, PHS= 0.773,-0.596, 0.607, RAW= 143.6, -12.1, CAL= 150.6, -21.0, ROT= 359.4,  21.0

2025-06-27T19:39:20.309Z,1751053160.309 [DAT](INFO): DAT read: Bearing 359.4,  21.0 (Local)

2025-06-27T19:39:20.309Z,1751053160.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  21.0 (Local)

2025-06-27T19:39:20.311Z,1751053160.311 [DAT](INFO): DAT read: Range 10 to 50 : 344.5 m  (Round-trip  459.4 ms) speed  0.4 m/s

2025-06-27T19:39:20.312Z,1751053160.312 [DAT](INFO): DAT read: user:2634>

2025-06-27T19:39:20.312Z,1751053160.312 [DAT](INFO): DAT read: Tx time:19:39:19.0676

2025-06-27T19:39:20.313Z,1751053160.313 [DAT](INFO): Ping request sent.
2025-06-27T19:39:20.313Z,1751053160.313 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:20.313Z,1751053160.313 [DAT](INFO): DAT read: TxSync time:19:39:19.0668

2025-06-27T19:39:20.314Z,1751053160.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:20.315Z,1751053160.315 [DAT](INFO): direction in FSK: [0.933529,-0.009776,-0.358368]
2025-06-27T19:39:20.315Z,1751053160.315 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:20.316Z,1751053160.316 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:20.321Z,1751053160.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 344.500000 m,
      deltaT: 4.031969 s,
      deltaX: -3.100006 m,
      approachRate: -0.768857 m/s,
      rangeRepo size: 4

2025-06-27T19:39:20.321Z,1751053160.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:20.328Z,1751053160.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 328.723022 m,
      bearing: 250.010945 deg,
      approach rate: -0.704165 m/s,
      LOS rate: -0.000825 deg/s,
      cmd heading: 246.475354 deg,
      new cmd heading: 246.474225 deg.

2025-06-27T19:39:20.329Z,1751053160.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301787 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:20.351Z,1751053160.351 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:20.351Z,1751053160.351 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:20.691Z,1751053160.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:20.694Z,1751053160.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 328.427917 m,
      bearing: 250.010667 deg,
      approach rate: -0.795050 m/s,
      LOS rate: -0.000750 deg/s,
      cmd heading: 246.474234 deg,
      new cmd heading: 246.473399 deg.

2025-06-27T19:39:20.699Z,1751053160.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301772 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:21.100Z,1751053161.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:21.106Z,1751053161.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 328.108582 m,
      bearing: 250.010965 deg,
      approach rate: -0.782052 m/s,
      LOS rate: 0.000732 deg/s,
      cmd heading: 246.473387 deg,
      new cmd heading: 246.474283 deg.

2025-06-27T19:39:21.107Z,1751053161.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301788 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:21.460Z,1751053161.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:21.463Z,1751053161.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:21.465Z,1751053161.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 327.814362 m,
      bearing: 250.011263 deg,
      approach rate: -0.810666 m/s,
      LOS rate: 0.000821 deg/s,
      cmd heading: 246.474288 deg,
      new cmd heading: 246.475182 deg.

2025-06-27T19:39:21.466Z,1751053161.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301804 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:21.559Z,1751053161.559 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:21.559Z,1751053161.559 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:21.560Z,1751053161.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:21.811Z,1751053161.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498448
2025-06-27T19:39:21.919Z,1751053161.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:21.922Z,1751053161.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 327.497711 m,
      bearing: 250.011529 deg,
      approach rate: -0.694142 m/s,
      LOS rate: 0.000585 deg/s,
      cmd heading: 246.475190 deg,
      new cmd heading: 246.475990 deg.

2025-06-27T19:39:21.936Z,1751053161.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301817 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:22.063Z,1751053162.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750528
2025-06-27T19:39:22.315Z,1751053162.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002561
2025-06-27T19:39:22.342Z,1751053162.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:22.345Z,1751053162.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 327.138519 m,
      bearing: 250.012685 deg,
      approach rate: -0.848147 m/s,
      LOS rate: 0.002732 deg/s,
      cmd heading: 246.475982 deg,
      new cmd heading: 246.479454 deg.

2025-06-27T19:39:22.346Z,1751053162.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301878 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:22.567Z,1751053162.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254400
2025-06-27T19:39:22.716Z,1751053162.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:22.723Z,1751053162.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 326.860718 m,
      bearing: 250.013513 deg,
      approach rate: -0.741997 m/s,
      LOS rate: 0.002212 deg/s,
      cmd heading: 246.479452 deg,
      new cmd heading: 246.481937 deg.

2025-06-27T19:39:22.724Z,1751053162.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301921 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:22.820Z,1751053162.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506868
2025-06-27T19:39:23.071Z,1751053163.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758561
2025-06-27T19:39:23.161Z,1751053163.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:23.164Z,1751053163.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 326.513947 m,
      bearing: 250.015401 deg,
      approach rate: -0.780401 m/s,
      LOS rate: 0.004254 deg/s,
      cmd heading: 246.481938 deg,
      new cmd heading: 246.487609 deg.

2025-06-27T19:39:23.165Z,1751053163.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302021 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:23.323Z,1751053163.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010452
2025-06-27T19:39:23.531Z,1751053163.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:23.533Z,1751053163.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:23.540Z,1751053163.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 326.248352 m,
      bearing: 250.016854 deg,
      approach rate: -0.713971 m/s,
      LOS rate: 0.003909 deg/s,
      cmd heading: 246.487621 deg,
      new cmd heading: 246.491983 deg.

2025-06-27T19:39:23.541Z,1751053163.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302097 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:23.576Z,1751053163.576 [DAT](INFO): DAT read: Rx Time:19:39:21.8958

2025-06-27T19:39:23.576Z,1751053163.576 [DAT](INFO): Rx dataTimestamp_ set to:1751053163.575770
2025-06-27T19:39:23.577Z,1751053163.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263741
2025-06-27T19:39:23.827Z,1751053163.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514500
2025-06-27T19:39:23.929Z,1751053163.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:23.931Z,1751053163.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 325.932465 m,
      bearing: 250.018594 deg,
      approach rate: -0.798187 m/s,
      LOS rate: 0.004401 deg/s,
      cmd heading: 246.491992 deg,
      new cmd heading: 246.497217 deg.

2025-06-27T19:39:23.932Z,1751053163.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302188 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:24.087Z,1751053164.087 [DAT](INFO): DAT read: 19:39:21.8958 LVL= 19696, 25681, 21234, 23507, AGC= 71, IDX=  82, 0.38,-1.583,-2.951,-1.946,-2.136, PHS= 0.642,-0.767, 0.188, RAW= 131.6,  -1.0, CAL= 137.3, -10.1, ROT=  12.7,  10.1

2025-06-27T19:39:24.092Z,1751053164.092 [DAT](INFO): got valid direction response:
 19:39:21.8958 LVL= 19696, 25681, 21234, 23507, AGC= 71, IDX=  82, 0.38,-1.583,-2.951,-1.946,-2.136, PHS= 0.642,-0.767, 0.188, RAW= 131.6,  -1.0, CAL= 137.3, -10.1, ROT=  12.7,  10.1

2025-06-27T19:39:24.093Z,1751053164.093 [DAT](INFO): DAT read: Bearing  12.7,  10.1 (Local)

2025-06-27T19:39:24.093Z,1751053164.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.7,  10.1 (Local)

2025-06-27T19:39:24.095Z,1751053164.095 [DAT](INFO): DAT read: Range 10 to 50 : 318.0 m  (Round-trip  424.0 ms) speed  0.4 m/s

2025-06-27T19:39:24.096Z,1751053164.096 [DAT](INFO): DAT read: user:2635>

2025-06-27T19:39:24.097Z,1751053164.097 [DAT](INFO): DAT read: Tx time:19:39:23.0176

2025-06-27T19:39:24.097Z,1751053164.097 [DAT](INFO): Ping request sent.
2025-06-27T19:39:24.097Z,1751053164.097 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:24.098Z,1751053164.098 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:24.117Z,1751053164.117 [DAT](INFO): direction in FSK: [0.960417,0.216439,-0.175367]
2025-06-27T19:39:24.117Z,1751053164.117 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:24.117Z,1751053164.117 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:24.130Z,1751053164.130 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:24.130Z,1751053164.130 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:24.332Z,1751053164.332 [DAT](INFO): DAT read: TxSync time:19:39:23.0168

2025-06-27T19:39:24.357Z,1751053164.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 318.000000 m,
 deltaT: 3.780056 s,
 deltaX: -26.500000 m,
 approachRate: -7.010478 m/s,
 rangeRepo size: 4
2025-06-27T19:39:24.357Z,1751053164.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:24.376Z,1751053164.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 325.616028 m,
      bearing: 250.021264 deg,
      approach rate: -0.740016 m/s,
      LOS rate: 0.006251 deg/s,
      cmd heading: 246.497210 deg,
      new cmd heading: 246.505229 deg.

2025-06-27T19:39:24.377Z,1751053164.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302328 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:24.733Z,1751053164.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:24.736Z,1751053164.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 325.331116 m,
      bearing: 250.023708 deg,
      approach rate: -0.756224 m/s,
      LOS rate: 0.006493 deg/s,
      cmd heading: 246.505215 deg,
      new cmd heading: 246.512554 deg.

2025-06-27T19:39:24.737Z,1751053164.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302456 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:25.157Z,1751053165.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:25.160Z,1751053165.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 325.011444 m,
      bearing: 250.026415 deg,
      approach rate: -0.753159 m/s,
      LOS rate: 0.006383 deg/s,
      cmd heading: 246.512565 deg,
      new cmd heading: 246.520692 deg.

2025-06-27T19:39:25.161Z,1751053165.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302598 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:25.535Z,1751053165.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:25.537Z,1751053165.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:25.540Z,1751053165.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 324.728485 m,
      bearing: 250.028738 deg,
      approach rate: -0.745980 m/s,
      LOS rate: 0.006132 deg/s,
      cmd heading: 246.520679 deg,
      new cmd heading: 246.527657 deg.

2025-06-27T19:39:25.541Z,1751053165.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302719 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:25.591Z,1751053165.591 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:25.591Z,1751053165.591 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:25.592Z,1751053165.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:25.843Z,1751053165.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746005
2025-06-27T19:39:25.969Z,1751053165.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:25.972Z,1751053165.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 324.400177 m,
      bearing: 250.031377 deg,
      approach rate: -0.758711 m/s,
      LOS rate: 0.006104 deg/s,
      cmd heading: 246.527646 deg,
      new cmd heading: 246.535570 deg.

2025-06-27T19:39:25.973Z,1751053165.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302857 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:26.096Z,1751053166.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998331
2025-06-27T19:39:26.347Z,1751053166.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250080
2025-06-27T19:39:26.389Z,1751053166.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:26.396Z,1751053166.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 324.103088 m,
      bearing: 250.033124 deg,
      approach rate: -0.708158 m/s,
      LOS rate: 0.004168 deg/s,
      cmd heading: 246.535569 deg,
      new cmd heading: 246.540814 deg.

2025-06-27T19:39:26.397Z,1751053166.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302949 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:26.599Z,1751053166.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501981
2025-06-27T19:39:26.825Z,1751053166.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:26.828Z,1751053166.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 323.765045 m,
      bearing: 250.035104 deg,
      approach rate: -0.774636 m/s,
      LOS rate: 0.004541 deg/s,
      cmd heading: 246.540814 deg,
      new cmd heading: 246.546760 deg.

2025-06-27T19:39:26.829Z,1751053166.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303053 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:26.855Z,1751053166.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757506
2025-06-27T19:39:27.105Z,1751053167.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007458
2025-06-27T19:39:27.232Z,1751053167.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:27.239Z,1751053167.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 323.467438 m,
      bearing: 250.034873 deg,
      approach rate: -0.731104 m/s,
      LOS rate: -0.000568 deg/s,
      cmd heading: 246.546770 deg,
      new cmd heading: 246.546077 deg.

2025-06-27T19:39:27.240Z,1751053167.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303041 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:27.355Z,1751053167.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258038
2025-06-27T19:39:27.608Z,1751053167.608 [DAT](INFO): DAT read: Rx Time:19:39:25.8749

2025-06-27T19:39:27.609Z,1751053167.609 [DAT](INFO): Rx dataTimestamp_ set to:1751053167.608894
2025-06-27T19:39:27.611Z,1751053167.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513396
2025-06-27T19:39:27.615Z,1751053167.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:27.635Z,1751053167.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 344.45 m.
2025-06-27T19:39:27.638Z,1751053167.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 344.453766 m,
      nav range: 323.183441 m,
      bearing: 250.034666 deg,
      approach rate: -0.705205 m/s,
      LOS rate: -0.000514 deg/s,
      cmd heading: 246.546087 deg,
      new cmd heading: 246.545466 deg.

2025-06-27T19:39:27.645Z,1751053167.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303030 target range: 344.453766 and range: 344.50 m.
2025-06-27T19:39:27.859Z,1751053167.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762027
2025-06-27T19:39:28.117Z,1751053168.117 [DAT](INFO): DAT read: 19:39:25.8749 LVL= 26944, 25761, 26098, 32755, AGC= 69, IDX= 219, 0.17, 2.242, 0.629, 2.062, 1.571, PHS= 0.759,-0.895, 0.488, RAW= 141.2,  -4.6, CAL= 146.7, -14.0, ROT=   3.3,  14.0

2025-06-27T19:39:28.119Z,1751053168.119 [DAT](INFO): got valid direction response:
 19:39:25.8749 LVL= 26944, 25761, 26098, 32755, AGC= 69, IDX= 219, 0.17, 2.242, 0.629, 2.062, 1.571, PHS= 0.759,-0.895, 0.488, RAW= 141.2,  -4.6, CAL= 146.7, -14.0, ROT=   3.3,  14.0

2025-06-27T19:39:28.120Z,1751053168.120 [DAT](INFO): DAT read: Bearing   3.3,  14.0 (Local)

2025-06-27T19:39:28.120Z,1751053168.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  14.0 (Local)

2025-06-27T19:39:28.122Z,1751053168.122 [DAT](INFO): DAT read: Range 10 to 50 : 339.8 m  (Round-trip  453.1 ms) speed  0.7 m/s

2025-06-27T19:39:28.123Z,1751053168.123 [DAT](INFO): DAT read: user:2636>

2025-06-27T19:39:28.124Z,1751053168.124 [DAT](INFO): DAT read: Tx time:19:39:26.9676

2025-06-27T19:39:28.124Z,1751053168.124 [DAT](INFO): Ping request sent.
2025-06-27T19:39:28.124Z,1751053168.124 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:28.124Z,1751053168.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:28.125Z,1751053168.125 [DAT](INFO): direction in FSK: [0.968687,0.055854,-0.241922]
2025-06-27T19:39:28.125Z,1751053168.125 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:28.126Z,1751053168.126 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:28.133Z,1751053168.133 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:28.133Z,1751053168.133 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:28.295Z,1751053168.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 339.799988 m,
      deltaT: 7.812160 s,
      deltaX: -4.700012 m,
      approachRate: -0.601628 m/s,
      rangeRepo size: 4

2025-06-27T19:39:28.297Z,1751053168.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 336.723938 m,
      bearing: 251.018881 deg,
      lat: 36.906570 deg,
      lon: -122.116520 deg,
      deltaT: 11.844129 s,
      deltaX: -7.729828 m,
      approachRate: -0.652629 m/s,
      posRepo size: 4

2025-06-27T19:39:28.298Z,1751053168.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:28.305Z,1751053168.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 323.107910 m,
      bearing: 250.663459 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000514 deg/s,
      cmd heading: 246.545459 deg,
      new cmd heading: 246.544455 deg.

2025-06-27T19:39:28.306Z,1751053168.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303012 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:28.364Z,1751053168.364 [DAT](INFO): DAT read: TxSync time:19:39:26.9668

2025-06-27T19:39:28.633Z,1751053168.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:28.639Z,1751053168.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 322.837555 m,
      bearing: 250.663649 deg,
      approach rate: -0.780823 m/s,
      LOS rate: 0.000550 deg/s,
      cmd heading: 246.544448 deg,
      new cmd heading: 246.545019 deg.

2025-06-27T19:39:28.640Z,1751053168.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303022 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:29.037Z,1751053169.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:29.048Z,1751053169.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 322.528107 m,
      bearing: 250.663994 deg,
      approach rate: -0.766287 m/s,
      LOS rate: 0.000854 deg/s,
      cmd heading: 246.545022 deg,
      new cmd heading: 246.546056 deg.

2025-06-27T19:39:29.052Z,1751053169.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303041 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:29.448Z,1751053169.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:29.451Z,1751053169.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 322.216064 m,
      bearing: 250.663544 deg,
      approach rate: -0.758212 m/s,
      LOS rate: -0.001094 deg/s,
      cmd heading: 246.546060 deg,
      new cmd heading: 246.544709 deg.

2025-06-27T19:39:29.452Z,1751053169.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303017 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:29.808Z,1751053169.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:29.810Z,1751053169.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:29.812Z,1751053169.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 321.945312 m,
      bearing: 250.663183 deg,
      approach rate: -0.748461 m/s,
      LOS rate: -0.000999 deg/s,
      cmd heading: 246.544721 deg,
      new cmd heading: 246.543637 deg.

2025-06-27T19:39:29.813Z,1751053169.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302998 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:29.876Z,1751053169.876 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:29.877Z,1751053169.877 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:29.877Z,1751053169.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:30.130Z,1751053170.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005297
2025-06-27T19:39:30.231Z,1751053170.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:30.234Z,1751053170.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 321.632385 m,
      bearing: 250.663005 deg,
      approach rate: -0.742148 m/s,
      LOS rate: -0.000422 deg/s,
      cmd heading: 246.543628 deg,
      new cmd heading: 246.543095 deg.

2025-06-27T19:39:30.236Z,1751053170.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302989 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:30.379Z,1751053170.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255334
2025-06-27T19:39:30.612Z,1751053170.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:30.615Z,1751053170.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 321.349976 m,
      bearing: 250.662802 deg,
      approach rate: -0.742297 m/s,
      LOS rate: -0.000536 deg/s,
      cmd heading: 246.543082 deg,
      new cmd heading: 246.542471 deg.

2025-06-27T19:39:30.616Z,1751053170.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302978 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:30.634Z,1751053170.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509708
2025-06-27T19:39:30.883Z,1751053170.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759437
2025-06-27T19:39:31.050Z,1751053171.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:31.057Z,1751053171.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 321.041870 m,
      bearing: 250.662536 deg,
      approach rate: -0.703252 m/s,
      LOS rate: -0.000606 deg/s,
      cmd heading: 246.542481 deg,
      new cmd heading: 246.541684 deg.

2025-06-27T19:39:31.058Z,1751053171.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302964 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:31.136Z,1751053171.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011519
2025-06-27T19:39:31.387Z,1751053171.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263420
2025-06-27T19:39:31.460Z,1751053171.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:31.479Z,1751053171.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 320.732513 m,
      bearing: 250.662708 deg,
      approach rate: -0.753933 m/s,
      LOS rate: 0.000417 deg/s,
      cmd heading: 246.541689 deg,
      new cmd heading: 246.542203 deg.

2025-06-27T19:39:31.480Z,1751053171.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302973 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:31.639Z,1751053171.639 [DAT](INFO): DAT read: Rx Time:19:39:29.8216

2025-06-27T19:39:31.640Z,1751053171.640 [DAT](INFO): Rx dataTimestamp_ set to:1751053171.639502
2025-06-27T19:39:31.640Z,1751053171.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516330
2025-06-27T19:39:31.820Z,1751053171.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:31.822Z,1751053171.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:31.825Z,1751053171.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 320.474030 m,
      bearing: 250.662800 deg,
      approach rate: -0.713847 m/s,
      LOS rate: 0.000256 deg/s,
      cmd heading: 246.542208 deg,
      new cmd heading: 246.542486 deg.

2025-06-27T19:39:31.826Z,1751053171.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302978 target range: 336.723938 and range: 339.80 m.
2025-06-27T19:39:31.892Z,1751053171.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767792
2025-06-27T19:39:32.163Z,1751053172.163 [DAT](INFO): DAT read: 19:39:29.8217 LVL= 28528, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.03, 1.999,1.857, 1.203, PHS= 0.884,-0.673, 0.651, RAW= 142.0, -11.8, CAL= 148.9, -21.1, ROT=   1.1,  21.1

2025-06-27T19:39:32.164Z,1751053172.164 [DAT](INFO): unknown deviceResponse_: 19:39:29.8217 LVL= 28528, 32753, 32754, 32755, AGC= 70, IDX= 410,-0.03, 1.999,1.857, 1.203, PHS= 0.884,-0.673, 0.651, RAW= 142.0, -11.8, CAL= 148.9, -21.1, ROT=   1.1,  21.1

2025-06-27T19:39:32.165Z,1751053172.165 [DAT](INFO): DAT read: Bearing   1.1,  21.1 (Local)

2025-06-27T19:39:32.165Z,1751053172.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  21.1 (Local)

2025-06-27T19:39:32.167Z,1751053172.167 [DAT](INFO): DAT read: Range 10 to 50 : 337.4 m  (Round-trip  449.9 ms) speed  0.6 m/s

2025-06-27T19:39:32.168Z,1751053172.168 [DAT](INFO): DAT read: user:2637>

2025-06-27T19:39:32.169Z,1751053172.169 [DAT](INFO): DAT read: Tx time:19:39:30.9177

2025-06-27T19:39:32.169Z,1751053172.169 [DAT](INFO): Ping request sent.
2025-06-27T19:39:32.169Z,1751053172.169 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:32.170Z,1751053172.170 [DAT](INFO): DAT read: TxSync time:19:39:30.9169

2025-06-27T19:39:32.170Z,1751053172.170 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:39:32.170Z,1751053172.170 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:32.171Z,1751053172.171 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:32.315Z,1751053172.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 337.399994 m,
      deltaT: 4.034026 s,
      deltaX: -2.399994 m,
      approachRate: -0.594938 m/s,
      rangeRepo size: 4

2025-06-27T19:39:32.316Z,1751053172.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:32.323Z,1751053172.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 320.134247 m,
      bearing: 250.664318 deg,
      approach rate: -0.696619 m/s,
      LOS rate: 0.003116 deg/s,
      cmd heading: 246.542481 deg,
      new cmd heading: 246.547040 deg.

2025-06-27T19:39:32.324Z,1751053172.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303058 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:32.640Z,1751053172.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:32.648Z,1751053172.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 319.902008 m,
      bearing: 250.665387 deg,
      approach rate: -0.704805 m/s,
      LOS rate: 0.003245 deg/s,
      cmd heading: 246.547044 deg,
      new cmd heading: 246.550251 deg.

2025-06-27T19:39:32.649Z,1751053172.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303113 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:33.039Z,1751053173.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:33.042Z,1751053173.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 319.604370 m,
      bearing: 250.666821 deg,
      approach rate: -0.744419 m/s,
      LOS rate: 0.003592 deg/s,
      cmd heading: 246.550240 deg,
      new cmd heading: 246.554548 deg.

2025-06-27T19:39:33.043Z,1751053173.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303189 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:33.475Z,1751053173.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:33.477Z,1751053173.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 319.315063 m,
      bearing: 250.667580 deg,
      approach rate: -0.671033 m/s,
      LOS rate: 0.001762 deg/s,
      cmd heading: 246.554557 deg,
      new cmd heading: 246.556835 deg.

2025-06-27T19:39:33.483Z,1751053173.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303228 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:33.836Z,1751053173.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:33.838Z,1751053173.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:33.841Z,1751053173.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 319.042877 m,
      bearing: 250.668234 deg,
      approach rate: -0.740990 m/s,
      LOS rate: 0.001782 deg/s,
      cmd heading: 246.556824 deg,
      new cmd heading: 246.558788 deg.

2025-06-27T19:39:33.842Z,1751053173.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303263 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:33.907Z,1751053173.907 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:33.907Z,1751053173.907 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:33.908Z,1751053173.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:34.162Z,1751053174.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992385
2025-06-27T19:39:34.263Z,1751053174.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:34.266Z,1751053174.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 318.735931 m,
      bearing: 250.669188 deg,
      approach rate: -0.721195 m/s,
      LOS rate: 0.002243 deg/s,
      cmd heading: 246.558791 deg,
      new cmd heading: 246.561655 deg.

2025-06-27T19:39:34.267Z,1751053174.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303313 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:34.411Z,1751053174.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242288
2025-06-27T19:39:34.644Z,1751053174.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:34.646Z,1751053174.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 318.462219 m,
      bearing: 250.669974 deg,
      approach rate: -0.720034 m/s,
      LOS rate: 0.002069 deg/s,
      cmd heading: 246.561660 deg,
      new cmd heading: 246.564020 deg.

2025-06-27T19:39:34.647Z,1751053174.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303354 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:34.667Z,1751053174.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498246
2025-06-27T19:39:34.919Z,1751053174.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750203
2025-06-27T19:39:35.067Z,1751053175.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:35.070Z,1751053175.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 318.169189 m,
      bearing: 250.670765 deg,
      approach rate: -0.719964 m/s,
      LOS rate: 0.001945 deg/s,
      cmd heading: 246.564010 deg,
      new cmd heading: 246.566385 deg.

2025-06-27T19:39:35.071Z,1751053175.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303395 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:35.175Z,1751053175.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005391
2025-06-27T19:39:35.423Z,1751053175.423 [DAT](INFO): DAT read: Rx Time:19:39:33.7670

2025-06-27T19:39:35.424Z,1751053175.424 [DAT](INFO): Rx dataTimestamp_ set to:1751053175.423533
2025-06-27T19:39:35.424Z,1751053175.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255270
2025-06-27T19:39:35.518Z,1751053175.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:35.521Z,1751053175.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 317.843140 m,
      bearing: 250.671473 deg,
      approach rate: -0.704341 m/s,
      LOS rate: 0.001531 deg/s,
      cmd heading: 246.566387 deg,
      new cmd heading: 246.568513 deg.

2025-06-27T19:39:35.526Z,1751053175.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303432 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:35.676Z,1751053175.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506429
2025-06-27T19:39:35.916Z,1751053175.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:35.923Z,1751053175.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.72 m.
2025-06-27T19:39:35.925Z,1751053175.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.723938 m,
      nav range: 317.554810 m,
      bearing: 250.672067 deg,
      approach rate: -0.711763 m/s,
      LOS rate: 0.001467 deg/s,
      cmd heading: 246.568518 deg,
      new cmd heading: 246.570301 deg.

2025-06-27T19:39:35.938Z,1751053175.938 [DAT](INFO): DAT read: 19:39:33.7670 LVL= 26144, 32753, 28242, 32755, AGC= 69, IDX= 395,-0.24,-1.959, 2.867,-2.076,-2.664, PHS= 0.793,-0.705, 0.585, RAW= 142.6,  -9.6, CAL= 149.5, -18.9, ROT=   0.5,  18.9

2025-06-27T19:39:35.939Z,1751053175.939 [DAT](INFO): got valid direction response:
 19:39:33.7670 LVL= 26144, 32753, 28242, 32755, AGC= 69, IDX= 395,-0.24,-1.959, 2.867,-2.076,-2.664, PHS= 0.793,-0.705, 0.585, RAW= 142.6,  -9.6, CAL= 149.5, -18.9, ROT=   0.5,  18.9

2025-06-27T19:39:35.940Z,1751053175.940 [DAT](INFO): DAT read: Bearing   0.5,  18.9 (Local)

2025-06-27T19:39:35.940Z,1751053175.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  18.9 (Local)

2025-06-27T19:39:35.942Z,1751053175.942 [DAT](INFO): DAT read: Range 10 to 50 : 333.9 m  (Round-trip  445.2 ms) speed  0.4 m/s

2025-06-27T19:39:35.947Z,1751053175.947 [DAT](INFO): DAT read: user:2638>

2025-06-27T19:39:35.948Z,1751053175.948 [DAT](INFO): DAT read: Tx time:19:39:34.8677

2025-06-27T19:39:35.948Z,1751053175.948 [DAT](INFO): Ping request sent.
2025-06-27T19:39:35.948Z,1751053175.948 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:35.948Z,1751053175.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:35.949Z,1751053175.949 [DAT](INFO): direction in FSK: [0.946049,0.008256,-0.323917]
2025-06-27T19:39:35.950Z,1751053175.950 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:35.950Z,1751053175.950 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:35.951Z,1751053175.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303463 target range: 336.723938 and range: 337.40 m.
2025-06-27T19:39:35.961Z,1751053175.961 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:35.961Z,1751053175.961 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:36.182Z,1751053176.182 [DAT](INFO): DAT read: TxSync time:19:39:34.8669

2025-06-27T19:39:36.341Z,1751053176.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.899994 m,
      deltaT: 3.782711 s,
      deltaX: -3.500000 m,
      approachRate: -0.925262 m/s,
      rangeRepo size: 4

2025-06-27T19:39:36.347Z,1751053176.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.878540 m,
      bearing: 248.761283 deg,
      lat: 36.906541 deg,
      lon: -122.116502 deg,
      deltaT: 7.816737 s,
      deltaX: -5.845398 m,
      approachRate: -0.747805 m/s,
      posRepo size: 4

2025-06-27T19:39:36.348Z,1751053176.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:36.355Z,1751053176.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 316.802063 m,
      bearing: 250.032044 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001467 deg/s,
      cmd heading: 246.570293 deg,
      new cmd heading: 246.572150 deg.

2025-06-27T19:39:36.356Z,1751053176.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303496 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:36.678Z,1751053176.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:36.681Z,1751053176.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 316.531372 m,
      bearing: 250.032566 deg,
      approach rate: -0.802026 m/s,
      LOS rate: 0.001546 deg/s,
      cmd heading: 246.572151 deg,
      new cmd heading: 246.573717 deg.

2025-06-27T19:39:36.682Z,1751053176.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303523 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:37.076Z,1751053177.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:37.079Z,1751053177.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 316.239777 m,
      bearing: 250.033224 deg,
      approach rate: -0.733057 m/s,
      LOS rate: 0.001657 deg/s,
      cmd heading: 246.573709 deg,
      new cmd heading: 246.575686 deg.

2025-06-27T19:39:37.080Z,1751053177.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303557 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:37.515Z,1751053177.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:37.518Z,1751053177.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 315.922028 m,
      bearing: 250.033238 deg,
      approach rate: -0.731093 m/s,
      LOS rate: 0.000031 deg/s,
      cmd heading: 246.575676 deg,
      new cmd heading: 246.575716 deg.

2025-06-27T19:39:37.523Z,1751053177.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303558 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:37.887Z,1751053177.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:37.890Z,1751053177.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 315.624176 m,
      bearing: 250.033205 deg,
      approach rate: -0.790286 m/s,
      LOS rate: -0.000086 deg/s,
      cmd heading: 246.575703 deg,
      new cmd heading: 246.575606 deg.

2025-06-27T19:39:37.891Z,1751053177.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303556 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:38.323Z,1751053178.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:38.326Z,1751053178.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:38.336Z,1751053178.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 315.304413 m,
      bearing: 250.033287 deg,
      approach rate: -0.729582 m/s,
      LOS rate: 0.000187 deg/s,
      cmd heading: 246.575594 deg,
      new cmd heading: 246.575839 deg.

2025-06-27T19:39:38.337Z,1751053178.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303560 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:38.451Z,1751053178.451 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:38.451Z,1751053178.451 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:38.451Z,1751053178.451 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:38.695Z,1751053178.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:38.699Z,1751053178.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 315.004700 m,
      bearing: 250.033320 deg,
      approach rate: -0.816510 m/s,
      LOS rate: 0.000091 deg/s,
      cmd heading: 246.575840 deg,
      new cmd heading: 246.575940 deg.

2025-06-27T19:39:38.700Z,1751053178.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303562 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:38.703Z,1751053178.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755357
2025-06-27T19:39:38.955Z,1751053178.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007278
2025-06-27T19:39:39.118Z,1751053179.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:39.121Z,1751053179.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 314.688995 m,
      bearing: 250.033363 deg,
      approach rate: -0.741605 m/s,
      LOS rate: 0.000100 deg/s,
      cmd heading: 246.575949 deg,
      new cmd heading: 246.576076 deg.

2025-06-27T19:39:39.122Z,1751053179.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303565 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:39.210Z,1751053179.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261479
2025-06-27T19:39:39.459Z,1751053179.459 [DAT](INFO): DAT read: Rx Time:19:39:37.7139

2025-06-27T19:39:39.460Z,1751053179.460 [DAT](INFO): Rx dataTimestamp_ set to:1751053179.459524
2025-06-27T19:39:39.460Z,1751053179.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512255
2025-06-27T19:39:39.536Z,1751053179.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:39.539Z,1751053179.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 314.353790 m,
      bearing: 250.034171 deg,
      approach rate: -0.802354 m/s,
      LOS rate: 0.001936 deg/s,
      cmd heading: 246.576085 deg,
      new cmd heading: 246.578512 deg.

2025-06-27T19:39:39.540Z,1751053179.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303607 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:39.711Z,1751053179.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763231
2025-06-27T19:39:39.905Z,1751053179.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:39.908Z,1751053179.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 314.070557 m,
      bearing: 250.034977 deg,
      approach rate: -0.768387 m/s,
      LOS rate: 0.002189 deg/s,
      cmd heading: 246.578517 deg,
      new cmd heading: 246.580938 deg.

2025-06-27T19:39:39.909Z,1751053179.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303649 target range: 330.878540 and range: 333.90 m.
2025-06-27T19:39:39.966Z,1751053179.966 [DAT](INFO): DAT read: Range 10 to 50 : 331.5 m  (Round-trip  442.0 ms) speed  0.5 m/s

2025-06-27T19:39:39.967Z,1751053179.967 [DAT](INFO): DAT read: user:2639>

2025-06-27T19:39:39.968Z,1751053179.968 [DAT](INFO): DAT read: Tx time:19:39:38.8177

2025-06-27T19:39:39.968Z,1751053179.968 [DAT](INFO): Ping request sent.
2025-06-27T19:39:39.968Z,1751053179.968 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:39.968Z,1751053179.968 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:39:39.968Z,1751053179.968 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:39.969Z,1751053179.969 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:40.218Z,1751053180.218 [DAT](INFO): DAT read: TxSync time:19:39:38.8169

2025-06-27T19:39:40.404Z,1751053180.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:40.407Z,1751053180.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 331.500000 m,
      deltaT: 4.035630 s,
      deltaX: -2.399994 m,
      approachRate: -0.594701 m/s,
      rangeRepo size: 4

2025-06-27T19:39:40.408Z,1751053180.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:40.411Z,1751053180.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 313.682037 m,
      bearing: 250.036313 deg,
      approach rate: -0.774602 m/s,
      LOS rate: 0.002667 deg/s,
      cmd heading: 246.580949 deg,
      new cmd heading: 246.584961 deg.

2025-06-27T19:39:40.412Z,1751053180.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303720 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:40.469Z,1751053180.469 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:40.469Z,1751053180.469 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:40.469Z,1751053180.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:40.711Z,1751053180.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:40.714Z,1751053180.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 313.445251 m,
      bearing: 250.037174 deg,
      approach rate: -0.775960 m/s,
      LOS rate: 0.002825 deg/s,
      cmd heading: 246.584965 deg,
      new cmd heading: 246.587551 deg.

2025-06-27T19:39:40.719Z,1751053180.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751339
2025-06-27T19:39:40.731Z,1751053180.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303765 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:40.971Z,1751053180.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003367
2025-06-27T19:39:41.164Z,1751053181.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:41.171Z,1751053181.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 313.117493 m,
      bearing: 250.038400 deg,
      approach rate: -0.724489 m/s,
      LOS rate: 0.002712 deg/s,
      cmd heading: 246.587560 deg,
      new cmd heading: 246.591241 deg.

2025-06-27T19:39:41.172Z,1751053181.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303829 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:41.227Z,1751053181.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258565
2025-06-27T19:39:41.475Z,1751053181.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507310
2025-06-27T19:39:41.632Z,1751053181.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:41.639Z,1751053181.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 312.761017 m,
      bearing: 250.040856 deg,
      approach rate: -0.760902 m/s,
      LOS rate: 0.005249 deg/s,
      cmd heading: 246.591249 deg,
      new cmd heading: 246.598626 deg.

2025-06-27T19:39:41.640Z,1751053181.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303958 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:41.729Z,1751053181.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760798
2025-06-27T19:39:41.976Z,1751053181.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:41.980Z,1751053181.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011524
2025-06-27T19:39:41.981Z,1751053181.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 312.489807 m,
      bearing: 250.042761 deg,
      approach rate: -0.788210 m/s,
      LOS rate: 0.005541 deg/s,
      cmd heading: 246.598625 deg,
      new cmd heading: 246.604345 deg.

2025-06-27T19:39:41.982Z,1751053181.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304058 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:42.231Z,1751053182.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263384
2025-06-27T19:39:42.392Z,1751053182.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:42.397Z,1751053182.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 312.179199 m,
      bearing: 250.045252 deg,
      approach rate: -0.748251 m/s,
      LOS rate: 0.006008 deg/s,
      cmd heading: 246.604335 deg,
      new cmd heading: 246.611817 deg.

2025-06-27T19:39:42.398Z,1751053182.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304188 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:42.484Z,1751053182.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516078
2025-06-27T19:39:42.735Z,1751053182.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767472
2025-06-27T19:39:42.791Z,1751053182.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:42.793Z,1751053182.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:42.796Z,1751053182.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 311.879059 m,
      bearing: 250.047642 deg,
      approach rate: -0.747756 m/s,
      LOS rate: 0.005959 deg/s,
      cmd heading: 246.611821 deg,
      new cmd heading: 246.618996 deg.

2025-06-27T19:39:42.797Z,1751053182.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304314 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:42.988Z,1751053182.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020268
2025-06-27T19:39:43.175Z,1751053183.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:43.177Z,1751053183.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 311.605103 m,
      bearing: 250.049801 deg,
      approach rate: -0.725531 m/s,
      LOS rate: 0.005725 deg/s,
      cmd heading: 246.619006 deg,
      new cmd heading: 246.625491 deg.

2025-06-27T19:39:43.183Z,1751053183.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304427 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:43.240Z,1751053183.240 [DAT](INFO): DAT read: Rx Time:19:39:41.6621

2025-06-27T19:39:43.240Z,1751053183.240 [DAT](INFO): Rx dataTimestamp_ set to:1751053183.239925
2025-06-27T19:39:43.242Z,1751053183.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273609
2025-06-27T19:39:43.491Z,1751053183.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523384
2025-06-27T19:39:43.667Z,1751053183.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.88 m.
2025-06-27T19:39:43.669Z,1751053183.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.878540 m,
      nav range: 311.224365 m,
      bearing: 250.052549 deg,
      approach rate: -0.767353 m/s,
      LOS rate: 0.005545 deg/s,
      cmd heading: 246.625481 deg,
      new cmd heading: 246.633735 deg.

2025-06-27T19:39:43.671Z,1751053183.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304571 target range: 330.878540 and range: 331.50 m.
2025-06-27T19:39:43.748Z,1751053183.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779318
2025-06-27T19:39:44.006Z,1751053184.006 [DAT](INFO): DAT read: 19:39:41.6622 LVL= 31648, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.15,-2.362, 2.600,-2.535,-3.043, PHS= 0.768,-0.593, 0.505, RAW= 139.5, -10.9, CAL= 146.0, -20.8, ROT=   4.0,  20.8

2025-06-27T19:39:44.008Z,1751053184.008 [DAT](INFO): got valid direction response:
 19:39:41.6622 LVL= 31648, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.15,-2.362, 2.600,-2.535,-3.043, PHS= 0.768,-0.593, 0.505, RAW= 139.5, -10.9, CAL= 146.0, -20.8, ROT=   4.0,  20.8

2025-06-27T19:39:44.009Z,1751053184.009 [DAT](INFO): DAT read: Bearing   4.0,  20.8 (Local)

2025-06-27T19:39:44.010Z,1751053184.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.0,  20.8 (Local)

2025-06-27T19:39:44.017Z,1751053184.017 [DAT](INFO): DAT read: Range 10 to 50 : 330.1 m  (Round-trip  440.2 ms) speed  0.4 m/s

2025-06-27T19:39:44.031Z,1751053184.031 [DAT](INFO): DAT read: user:2640>

2025-06-27T19:39:44.032Z,1751053184.032 [DAT](INFO): DAT read: Tx time:19:39:42.7678

2025-06-27T19:39:44.032Z,1751053184.032 [DAT](INFO): Ping request sent.
2025-06-27T19:39:44.032Z,1751053184.032 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:44.033Z,1751053184.033 [DAT](INFO): DAT read: TxSync time:19:39:42.7670

2025-06-27T19:39:44.033Z,1751053184.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:44.042Z,1751053184.042 [DAT](INFO): direction in FSK: [0.932548,0.065210,-0.355107]
2025-06-27T19:39:44.043Z,1751053184.043 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:44.043Z,1751053184.043 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:44.046Z,1751053184.046 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:44.054Z,1751053184.054 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:44.136Z,1751053184.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.100006 m,
      deltaT: 4.032715 s,
      deltaX: -1.399994 m,
      approachRate: -0.347159 m/s,
      rangeRepo size: 4

2025-06-27T19:39:44.138Z,1751053184.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 327.111481 m,
      bearing: 252.071269 deg,
      lat: 36.906570 deg,
      lon: -122.116504 deg,
      deltaT: 8.068345 s,
      deltaX: -3.767059 m,
      approachRate: -0.466894 m/s,
      posRepo size: 4

2025-06-27T19:39:44.143Z,1751053184.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:44.145Z,1751053184.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 309.973724 m,
      bearing: 250.620540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005545 deg/s,
      cmd heading: 246.633732 deg,
      new cmd heading: 246.641524 deg.

2025-06-27T19:39:44.154Z,1751053184.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304707 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:44.603Z,1751053184.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:44.606Z,1751053184.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 309.607117 m,
      bearing: 250.622902 deg,
      approach rate: -0.782739 m/s,
      LOS rate: 0.005049 deg/s,
      cmd heading: 246.641519 deg,
      new cmd heading: 246.648613 deg.

2025-06-27T19:39:44.607Z,1751053184.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304831 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:44.977Z,1751053184.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:44.979Z,1751053184.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:44.982Z,1751053184.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 309.331665 m,
      bearing: 250.624656 deg,
      approach rate: -0.733230 m/s,
      LOS rate: 0.004673 deg/s,
      cmd heading: 246.648622 deg,
      new cmd heading: 246.653889 deg.

2025-06-27T19:39:44.983Z,1751053184.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304923 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:45.013Z,1751053185.013 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:45.013Z,1751053185.013 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:45.013Z,1751053185.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:45.263Z,1751053185.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231295
2025-06-27T19:39:45.271Z,1751053185.271 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:39:45.398Z,1751053185.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:45.417Z,1751053185.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 309.023743 m,
      bearing: 250.625745 deg,
      approach rate: -0.735449 m/s,
      LOS rate: 0.002603 deg/s,
      cmd heading: 246.653895 deg,
      new cmd heading: 246.657165 deg.

2025-06-27T19:39:45.418Z,1751053185.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304980 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:45.516Z,1751053185.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483717
2025-06-27T19:39:45.767Z,1751053185.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735376
2025-06-27T19:39:45.828Z,1751053185.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:45.839Z,1751053185.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 308.727325 m,
      bearing: 250.626746 deg,
      approach rate: -0.689229 m/s,
      LOS rate: 0.002330 deg/s,
      cmd heading: 246.657173 deg,
      new cmd heading: 246.660179 deg.

2025-06-27T19:39:45.840Z,1751053185.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305032 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:46.020Z,1751053186.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987521
2025-06-27T19:39:46.175Z,1751053186.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:46.178Z,1751053186.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 308.453125 m,
      bearing: 250.627651 deg,
      approach rate: -0.789323 m/s,
      LOS rate: 0.002609 deg/s,
      cmd heading: 246.660179 deg,
      new cmd heading: 246.662898 deg.

2025-06-27T19:39:46.196Z,1751053186.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305080 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:46.271Z,1751053186.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239411
2025-06-27T19:39:46.275Z,1751053186.275 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:39:46.523Z,1751053186.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491259
2025-06-27T19:39:46.609Z,1751053186.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:46.612Z,1751053186.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 308.136353 m,
      bearing: 250.626674 deg,
      approach rate: -0.730353 m/s,
      LOS rate: -0.002255 deg/s,
      cmd heading: 246.662911 deg,
      new cmd heading: 246.659977 deg.

2025-06-27T19:39:46.613Z,1751053186.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305029 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:46.776Z,1751053186.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743565
2025-06-27T19:39:47.001Z,1751053187.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:47.021Z,1751053187.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:47.025Z,1751053187.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 307.851959 m,
      bearing: 250.625808 deg,
      approach rate: -0.690855 m/s,
      LOS rate: -0.002107 deg/s,
      cmd heading: 246.659988 deg,
      new cmd heading: 246.657385 deg.

2025-06-27T19:39:47.027Z,1751053187.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995418
2025-06-27T19:39:47.030Z,1751053187.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304984 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:47.280Z,1751053187.280 [DAT](INFO): DAT read: Rx Time:19:39:45.6068

2025-06-27T19:39:47.280Z,1751053187.280 [DAT](INFO): Rx dataTimestamp_ set to:1751053187.279765
2025-06-27T19:39:47.281Z,1751053187.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248529
2025-06-27T19:39:47.448Z,1751053187.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 327.11 m.
2025-06-27T19:39:47.456Z,1751053187.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 327.111481 m,
      nav range: 307.532898 m,
      bearing: 250.624695 deg,
      approach rate: -0.746412 m/s,
      LOS rate: -0.002606 deg/s,
      cmd heading: 246.657392 deg,
      new cmd heading: 246.654050 deg.

2025-06-27T19:39:47.457Z,1751053187.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304925 target range: 327.111481 and range: 330.10 m.
2025-06-27T19:39:47.532Z,1751053187.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500017
2025-06-27T19:39:47.789Z,1751053187.789 [DAT](INFO): DAT read: 19:39:45.6068 LVL= 32160, 32753, 32754, 32755, AGC= 70, IDX= 385,-0.24,-2.948, 1.933,-3.080, 2.634, PHS= 0.789,-0.653, 0.566, RAW= 141.8, -10.5, CAL= 148.8, -20.0, ROT=   1.2,  20.0

2025-06-27T19:39:47.791Z,1751053187.791 [DAT](INFO): got valid direction response:
 19:39:45.6068 LVL= 32160, 32753, 32754, 32755, AGC= 70, IDX= 385,-0.24,-2.948, 1.933,-3.080, 2.634, PHS= 0.789,-0.653, 0.566, RAW= 141.8, -10.5, CAL= 148.8, -20.0, ROT=   1.2,  20.0

2025-06-27T19:39:47.792Z,1751053187.792 [DAT](INFO): DAT read: Bearing   1.2,  20.0 (Local)

2025-06-27T19:39:47.792Z,1751053187.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  20.0 (Local)

2025-06-27T19:39:47.793Z,1751053187.793 [DAT](INFO): DAT read: Range 10 to 50 : 326.1 m  (Round-trip  434.8 ms) speed  0.5 m/s

2025-06-27T19:39:47.794Z,1751053187.794 [DAT](INFO): DAT read: user:2641>

2025-06-27T19:39:47.795Z,1751053187.795 [DAT](INFO): DAT read: Tx time:19:39:46.7194

2025-06-27T19:39:47.795Z,1751053187.795 [DAT](INFO): Ping request sent.
2025-06-27T19:39:47.795Z,1751053187.795 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:47.796Z,1751053187.796 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:47.797Z,1751053187.797 [DAT](INFO): direction in FSK: [0.939487,0.019679,-0.342020]
2025-06-27T19:39:47.797Z,1751053187.797 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:47.797Z,1751053187.797 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:47.813Z,1751053187.813 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:47.813Z,1751053187.813 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:47.865Z,1751053187.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 326.100006 m,
      deltaT: 3.786739 s,
      deltaX: -4.000000 m,
      approachRate: -1.056318 m/s,
      rangeRepo size: 4

2025-06-27T19:39:47.874Z,1751053187.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.147308 m,
      bearing: 249.125775 deg,
      lat: 36.906570 deg,
      lon: -122.116504 deg,
      deltaT: 3.786739 s,
      deltaX: -3.964172 m,
      approachRate: -1.046857 m/s,
      posRepo size: 4

2025-06-27T19:39:47.879Z,1751053187.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:47.881Z,1751053187.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 307.246307 m,
      bearing: 250.623756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002606 deg/s,
      cmd heading: 246.654059 deg,
      new cmd heading: 246.650806 deg.

2025-06-27T19:39:47.886Z,1751053187.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304869 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:48.036Z,1751053188.036 [DAT](INFO): DAT read: TxSync time:19:39:46.7186

2025-06-27T19:39:48.235Z,1751053188.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:48.237Z,1751053188.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 306.959839 m,
      bearing: 250.622845 deg,
      approach rate: -0.782273 m/s,
      LOS rate: -0.002489 deg/s,
      cmd heading: 246.650808 deg,
      new cmd heading: 246.648073 deg.

2025-06-27T19:39:48.242Z,1751053188.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304821 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:48.665Z,1751053188.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:48.672Z,1751053188.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 306.655243 m,
      bearing: 250.622303 deg,
      approach rate: -0.700991 m/s,
      LOS rate: -0.001249 deg/s,
      cmd heading: 246.648076 deg,
      new cmd heading: 246.646447 deg.

2025-06-27T19:39:48.673Z,1751053188.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304792 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:49.023Z,1751053189.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:49.044Z,1751053189.044 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:49.044Z,1751053189.044 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:49.044Z,1751053189.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:49.052Z,1751053189.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:49.058Z,1751053189.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 306.392456 m,
      bearing: 250.621803 deg,
      approach rate: -0.679601 m/s,
      LOS rate: -0.001295 deg/s,
      cmd heading: 246.646436 deg,
      new cmd heading: 246.644935 deg.

2025-06-27T19:39:49.059Z,1751053189.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304766 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:49.296Z,1751053189.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501013
2025-06-27T19:39:49.469Z,1751053189.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:49.475Z,1751053189.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 306.083618 m,
      bearing: 250.620322 deg,
      approach rate: -0.740601 m/s,
      LOS rate: -0.003554 deg/s,
      cmd heading: 246.644934 deg,
      new cmd heading: 246.640488 deg.

2025-06-27T19:39:49.479Z,1751053189.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304688 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:49.548Z,1751053189.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752070
2025-06-27T19:39:49.799Z,1751053189.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003888
2025-06-27T19:39:49.837Z,1751053189.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:49.844Z,1751053189.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 305.820129 m,
      bearing: 250.619045 deg,
      approach rate: -0.714747 m/s,
      LOS rate: -0.003467 deg/s,
      cmd heading: 246.640481 deg,
      new cmd heading: 246.636647 deg.

2025-06-27T19:39:49.845Z,1751053189.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304622 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:50.051Z,1751053190.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255840
2025-06-27T19:39:50.227Z,1751053190.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:50.229Z,1751053190.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 305.527557 m,
      bearing: 250.617669 deg,
      approach rate: -0.752241 m/s,
      LOS rate: -0.003542 deg/s,
      cmd heading: 246.636656 deg,
      new cmd heading: 246.632523 deg.

2025-06-27T19:39:50.247Z,1751053190.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304550 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:50.304Z,1751053190.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508730
2025-06-27T19:39:50.555Z,1751053190.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759827
2025-06-27T19:39:50.655Z,1751053190.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:50.657Z,1751053190.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 305.224274 m,
      bearing: 250.618139 deg,
      approach rate: -0.708071 m/s,
      LOS rate: 0.001099 deg/s,
      cmd heading: 246.632530 deg,
      new cmd heading: 246.633942 deg.

2025-06-27T19:39:50.658Z,1751053190.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304574 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:50.807Z,1751053190.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011858
2025-06-27T19:39:51.036Z,1751053191.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:51.055Z,1751053191.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:51.057Z,1751053191.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 304.952789 m,
      bearing: 250.618545 deg,
      approach rate: -0.706801 m/s,
      LOS rate: 0.001057 deg/s,
      cmd heading: 246.633951 deg,
      new cmd heading: 246.635168 deg.

2025-06-27T19:39:51.060Z,1751053191.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264045
2025-06-27T19:39:51.060Z,1751053191.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304596 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:51.311Z,1751053191.311 [DAT](INFO): DAT read: Rx Time:19:39:49.5559

2025-06-27T19:39:51.312Z,1751053191.312 [DAT](INFO): Rx dataTimestamp_ set to:1751053191.311653
2025-06-27T19:39:51.312Z,1751053191.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517005
2025-06-27T19:39:51.482Z,1751053191.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.15 m.
2025-06-27T19:39:51.485Z,1751053191.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.147308 m,
      nav range: 304.643646 m,
      bearing: 250.620186 deg,
      approach rate: -0.697339 m/s,
      LOS rate: 0.003706 deg/s,
      cmd heading: 246.635180 deg,
      new cmd heading: 246.640109 deg.

2025-06-27T19:39:51.486Z,1751053191.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304682 target range: 323.147308 and range: 326.10 m.
2025-06-27T19:39:51.564Z,1751053191.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768493
2025-06-27T19:39:51.821Z,1751053191.821 [DAT](INFO): DAT read: 19:39:49.5559 LVL= 29488, 31121, 32754, 32755, AGC= 69, IDX= 409,-0.04,-1.976, 2.843,-2.172,-2.878, PHS= 0.990,-0.515, 0.703, RAW= 139.7, -16.7, CAL= 145.5, -25.2, ROT=   4.5,  25.2

2025-06-27T19:39:51.823Z,1751053191.823 [DAT](INFO): got valid direction response:
 19:39:49.5559 LVL= 29488, 31121, 32754, 32755, AGC= 69, IDX= 409,-0.04,-1.976, 2.843,-2.172,-2.878, PHS= 0.990,-0.515, 0.703, RAW= 139.7, -16.7, CAL= 145.5, -25.2, ROT=   4.5,  25.2

2025-06-27T19:39:51.824Z,1751053191.824 [DAT](INFO): DAT read: Bearing   4.5,  25.2 (Local)

2025-06-27T19:39:51.824Z,1751053191.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  25.2 (Local)

2025-06-27T19:39:51.826Z,1751053191.826 [DAT](INFO): DAT read: Range 10 to 50 : 324.3 m  (Round-trip  432.4 ms) speed  0.4 m/s

2025-06-27T19:39:51.827Z,1751053191.827 [DAT](INFO): DAT read: user:2642>

2025-06-27T19:39:51.828Z,1751053191.828 [DAT](INFO): DAT read: Tx time:19:39:50.6694

2025-06-27T19:39:51.828Z,1751053191.828 [DAT](INFO): Ping request sent.
2025-06-27T19:39:51.828Z,1751053191.828 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:51.828Z,1751053191.828 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:51.829Z,1751053191.829 [DAT](INFO): direction in FSK: [0.902038,0.070992,-0.425779]
2025-06-27T19:39:51.829Z,1751053191.829 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:51.830Z,1751053191.830 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:51.833Z,1751053191.833 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:51.834Z,1751053191.834 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:51.967Z,1751053191.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 324.299988 m,
      deltaT: 4.032005 s,
      deltaX: -1.800018 m,
      approachRate: -0.446433 m/s,
      rangeRepo size: 4

2025-06-27T19:39:51.969Z,1751053191.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.362946 m,
      bearing: 252.916931 deg,
      lat: 36.906570 deg,
      lon: -122.116452 deg,
      deltaT: 4.032005 s,
      deltaX: -1.784363 m,
      approachRate: -0.442550 m/s,
      posRepo size: 4

2025-06-27T19:39:51.974Z,1751053191.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:51.977Z,1751053191.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 299.984406 m,
      bearing: 250.329290 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003706 deg/s,
      cmd heading: 246.640098 deg,
      new cmd heading: 246.645442 deg.

2025-06-27T19:39:51.978Z,1751053191.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304775 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:52.069Z,1751053192.069 [DAT](INFO): DAT read: TxSync time:19:39:50.6686

2025-06-27T19:39:52.274Z,1751053192.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:52.280Z,1751053192.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 299.741577 m,
      bearing: 250.330293 deg,
      approach rate: -0.780633 m/s,
      LOS rate: 0.003225 deg/s,
      cmd heading: 246.645453 deg,
      new cmd heading: 246.648463 deg.

2025-06-27T19:39:52.281Z,1751053192.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304828 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:52.681Z,1751053192.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:52.684Z,1751053192.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 299.439758 m,
      bearing: 250.332444 deg,
      approach rate: -0.740605 m/s,
      LOS rate: 0.005284 deg/s,
      cmd heading: 246.648458 deg,
      new cmd heading: 246.654918 deg.

2025-06-27T19:39:52.685Z,1751053192.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304940 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:53.090Z,1751053193.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:53.092Z,1751053193.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:53.095Z,1751053193.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 299.151733 m,
      bearing: 250.334501 deg,
      approach rate: -0.700303 m/s,
      LOS rate: 0.005006 deg/s,
      cmd heading: 246.654906 deg,
      new cmd heading: 246.661082 deg.

2025-06-27T19:39:53.096Z,1751053193.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305048 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:53.327Z,1751053193.327 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:53.327Z,1751053193.327 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:53.328Z,1751053193.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:53.579Z,1751053193.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751383
2025-06-27T19:39:53.588Z,1751053193.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:53.591Z,1751053193.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 298.766296 m,
      bearing: 250.337869 deg,
      approach rate: -0.778396 m/s,
      LOS rate: 0.006811 deg/s,
      cmd heading: 246.661080 deg,
      new cmd heading: 246.671198 deg.

2025-06-27T19:39:53.592Z,1751053193.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305224 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:53.831Z,1751053193.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003189
2025-06-27T19:39:53.970Z,1751053193.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:53.973Z,1751053193.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 298.484680 m,
      bearing: 250.340335 deg,
      approach rate: -0.743995 m/s,
      LOS rate: 0.006522 deg/s,
      cmd heading: 246.671189 deg,
      new cmd heading: 246.678595 deg.

2025-06-27T19:39:53.974Z,1751053193.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305354 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:54.085Z,1751053194.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256407
2025-06-27T19:39:54.328Z,1751053194.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:54.331Z,1751053194.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 298.204681 m,
      bearing: 250.342739 deg,
      approach rate: -0.773040 m/s,
      LOS rate: 0.006642 deg/s,
      cmd heading: 246.678593 deg,
      new cmd heading: 246.685810 deg.

2025-06-27T19:39:54.332Z,1751053194.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305480 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:54.335Z,1751053194.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507394
2025-06-27T19:39:54.587Z,1751053194.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759359
2025-06-27T19:39:54.840Z,1751053194.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011538
2025-06-27T19:39:54.890Z,1751053194.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:54.893Z,1751053194.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 297.772980 m,
      bearing: 250.345858 deg,
      approach rate: -0.768470 m/s,
      LOS rate: 0.005562 deg/s,
      cmd heading: 246.685806 deg,
      new cmd heading: 246.695179 deg.

2025-06-27T19:39:54.894Z,1751053194.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305643 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:55.091Z,1751053195.091 [DAT](INFO): DAT read: Rx Time:19:39:53.5013

2025-06-27T19:39:55.092Z,1751053195.092 [DAT](INFO): Rx dataTimestamp_ set to:1751053195.091506
2025-06-27T19:39:55.092Z,1751053195.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264305
2025-06-27T19:39:55.232Z,1751053195.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:55.234Z,1751053195.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:55.237Z,1751053195.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 297.508850 m,
      bearing: 250.347789 deg,
      approach rate: -0.767819 m/s,
      LOS rate: 0.005618 deg/s,
      cmd heading: 246.695177 deg,
      new cmd heading: 246.700975 deg.

2025-06-27T19:39:55.238Z,1751053195.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305744 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:55.344Z,1751053195.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516008
2025-06-27T19:39:55.598Z,1751053195.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769628
2025-06-27T19:39:55.693Z,1751053195.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.36 m.
2025-06-27T19:39:55.700Z,1751053195.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.362946 m,
      nav range: 297.162872 m,
      bearing: 250.350899 deg,
      approach rate: -0.753201 m/s,
      LOS rate: 0.006777 deg/s,
      cmd heading: 246.700969 deg,
      new cmd heading: 246.710308 deg.

2025-06-27T19:39:55.701Z,1751053195.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305907 target range: 321.362946 and range: 324.30 m.
2025-06-27T19:39:55.854Z,1751053195.854 [DAT](INFO): DAT read: 19:39:53.5013 LVL= 31248, 31665, 32738, 32755, AGC= 72, IDX= 395, 0.44, 2.344, 0.839, 2.097, 1.540, PHS= 0.892,-0.655, 0.553, RAW= 138.0, -11.2, CAL= 144.2, -21.3, ROT=   5.8,  21.3

2025-06-27T19:39:55.858Z,1751053195.858 [DAT](INFO): got valid direction response:
 19:39:53.5013 LVL= 31248, 31665, 32738, 32755, AGC= 72, IDX= 395, 0.44, 2.344, 0.839, 2.097, 1.540, PHS= 0.892,-0.655, 0.553, RAW= 138.0, -11.2, CAL= 144.2, -21.3, ROT=   5.8,  21.3

2025-06-27T19:39:55.874Z,1751053195.874 [DAT](INFO): DAT read: Bearing   5.8,  21.3 (Local)

2025-06-27T19:39:55.875Z,1751053195.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  21.3 (Local)

2025-06-27T19:39:55.876Z,1751053195.876 [DAT](INFO): DAT read: Range 10 to 50 : 320.8 m  (Round-trip  427.8 ms) speed  0.4 m/s

2025-06-27T19:39:55.877Z,1751053195.877 [DAT](INFO): DAT read: user:2643>

2025-06-27T19:39:55.878Z,1751053195.878 [DAT](INFO): DAT read: Tx time:19:39:54.6178

2025-06-27T19:39:55.879Z,1751053195.879 [DAT](INFO): Ping request sent.
2025-06-27T19:39:55.879Z,1751053195.879 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:55.880Z,1751053195.880 [DAT](INFO): DAT read: TxSync time:19:39:54.6170

2025-06-27T19:39:55.880Z,1751053195.880 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:55.881Z,1751053195.881 [DAT](INFO): direction in FSK: [0.926922,0.094153,-0.363251]
2025-06-27T19:39:55.882Z,1751053195.882 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:55.882Z,1751053195.882 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:55.885Z,1751053195.885 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:55.885Z,1751053195.885 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:56.073Z,1751053196.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 320.799988 m,
      deltaT: 4.032199 s,
      deltaX: -3.500000 m,
      approachRate: -0.868013 m/s,
      rangeRepo size: 4

2025-06-27T19:39:56.080Z,1751053196.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 317.892517 m,
      bearing: 254.023473 deg,
      lat: 36.906644 deg,
      lon: -122.116452 deg,
      deltaT: 4.032199 s,
      deltaX: -3.470428 m,
      approachRate: -0.860679 m/s,
      posRepo size: 4

2025-06-27T19:39:56.081Z,1751053196.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:56.088Z,1751053196.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 294.204529 m,
      bearing: 251.867605 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006777 deg/s,
      cmd heading: 246.710312 deg,
      new cmd heading: 246.718023 deg.

2025-06-27T19:39:56.089Z,1751053196.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306042 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:56.399Z,1751053196.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:56.402Z,1751053196.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 293.936005 m,
      bearing: 251.871517 deg,
      approach rate: -0.823974 m/s,
      LOS rate: 0.012015 deg/s,
      cmd heading: 246.718017 deg,
      new cmd heading: 246.729764 deg.

2025-06-27T19:39:56.403Z,1751053196.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306247 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:56.839Z,1751053196.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:56.841Z,1751053196.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 293.612305 m,
      bearing: 251.876243 deg,
      approach rate: -0.735839 m/s,
      LOS rate: 0.010755 deg/s,
      cmd heading: 246.729765 deg,
      new cmd heading: 246.743958 deg.

2025-06-27T19:39:56.842Z,1751053196.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306494 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:57.218Z,1751053197.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:57.221Z,1751053197.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 293.303650 m,
      bearing: 251.880961 deg,
      approach rate: -0.812936 m/s,
      LOS rate: 0.012439 deg/s,
      cmd heading: 246.743944 deg,
      new cmd heading: 246.758113 deg.

2025-06-27T19:39:57.222Z,1751053197.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306742 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:57.655Z,1751053197.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:39:57.657Z,1751053197.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:57.660Z,1751053197.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 292.965271 m,
      bearing: 251.886145 deg,
      approach rate: -0.770514 m/s,
      LOS rate: 0.011818 deg/s,
      cmd heading: 246.758124 deg,
      new cmd heading: 246.773694 deg.

2025-06-27T19:39:57.661Z,1751053197.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307014 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:57.864Z,1751053197.864 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:39:57.864Z,1751053197.864 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:39:57.864Z,1751053197.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:39:58.051Z,1751053198.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:58.056Z,1751053198.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 292.670197 m,
      bearing: 251.890690 deg,
      approach rate: -0.750980 m/s,
      LOS rate: 0.011579 deg/s,
      cmd heading: 246.773697 deg,
      new cmd heading: 246.787345 deg.

2025-06-27T19:39:58.057Z,1751053198.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307252 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:58.119Z,1751053198.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240267
2025-06-27T19:39:58.371Z,1751053198.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493089
2025-06-27T19:39:58.422Z,1751053198.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:58.425Z,1751053198.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 292.375336 m,
      bearing: 251.895209 deg,
      approach rate: -0.793644 m/s,
      LOS rate: 0.012176 deg/s,
      cmd heading: 246.787357 deg,
      new cmd heading: 246.800928 deg.

2025-06-27T19:39:58.426Z,1751053198.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307489 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:58.623Z,1751053198.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745102
2025-06-27T19:39:58.861Z,1751053198.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:58.864Z,1751053198.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 292.043976 m,
      bearing: 251.899418 deg,
      approach rate: -0.753500 m/s,
      LOS rate: 0.009582 deg/s,
      cmd heading: 246.800935 deg,
      new cmd heading: 246.813576 deg.

2025-06-27T19:39:58.865Z,1751053198.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307710 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:58.875Z,1751053198.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997193
2025-06-27T19:39:59.127Z,1751053199.127 [DAT](INFO): DAT read: Rx Time:19:39:57.4460

2025-06-27T19:39:59.128Z,1751053199.128 [DAT](INFO): Rx dataTimestamp_ set to:1751053199.127621
2025-06-27T19:39:59.128Z,1751053199.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250192
2025-06-27T19:39:59.237Z,1751053199.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.89 m.
2025-06-27T19:39:59.240Z,1751053199.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 317.892517 m,
      nav range: 291.761292 m,
      bearing: 251.902990 deg,
      approach rate: -0.752823 m/s,
      LOS rate: 0.009523 deg/s,
      cmd heading: 246.813585 deg,
      new cmd heading: 246.824313 deg.

2025-06-27T19:39:59.241Z,1751053199.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307897 target range: 317.892517 and range: 320.80 m.
2025-06-27T19:39:59.379Z,1751053199.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501045
2025-06-27T19:39:59.637Z,1751053199.637 [DAT](INFO): DAT read: 19:39:57.4460 LVL= 24304, 32753, 32754, 32755, AGC= 67, IDX= 401,-0.01, 1.689, 0.077, 1.546, 0.864, PHS= 0.914,-0.740, 0.679, RAW= 142.5, -11.0, CAL= 149.6, -20.3, ROT=   0.4,  20.3

2025-06-27T19:39:59.639Z,1751053199.639 [DAT](INFO): got valid direction response:
 19:39:57.4460 LVL= 24304, 32753, 32754, 32755, AGC= 67, IDX= 401,-0.01, 1.689, 0.077, 1.546, 0.864, PHS= 0.914,-0.740, 0.679, RAW= 142.5, -11.0, CAL= 149.6, -20.3, ROT=   0.4,  20.3

2025-06-27T19:39:59.640Z,1751053199.640 [DAT](INFO): DAT read: Bearing   0.4,  20.3 (Local)

2025-06-27T19:39:59.640Z,1751053199.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  20.3 (Local)

2025-06-27T19:39:59.641Z,1751053199.641 [DAT](INFO): DAT read: Range 10 to 50 : 318.0 m  (Round-trip  424.0 ms) speed  0.5 m/s

2025-06-27T19:39:59.650Z,1751053199.650 [DAT](INFO): DAT read: user:2644>

2025-06-27T19:39:59.659Z,1751053199.659 [DAT](INFO): DAT read: Tx time:19:39:58.5679

2025-06-27T19:39:59.660Z,1751053199.660 [DAT](INFO): Ping request sent.
2025-06-27T19:39:59.660Z,1751053199.660 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:39:59.660Z,1751053199.660 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:39:59.661Z,1751053199.661 [DAT](INFO): direction in FSK: [0.937866,0.006548,-0.346936]
2025-06-27T19:39:59.661Z,1751053199.661 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:59.662Z,1751053199.662 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:59.673Z,1751053199.673 [DAT](INFO): publishing transmit ping time
2025-06-27T19:39:59.673Z,1751053199.673 [DAT](INFO): publishing direction and range info
2025-06-27T19:39:59.741Z,1751053199.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.000000 m,
      deltaT: 3.783756 s,
      deltaX: -2.799988 m,
      approachRate: -0.740002 m/s,
      rangeRepo size: 4

2025-06-27T19:39:59.748Z,1751053199.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 315.117584 m,
      bearing: 248.550410 deg,
      lat: 36.906644 deg,
      lon: -122.116467 deg,
      deltaT: 3.783756 s,
      deltaX: -2.774933 m,
      approachRate: -0.733380 m/s,
      posRepo size: 4

2025-06-27T19:39:59.748Z,1751053199.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:39:59.756Z,1751053199.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 292.715179 m,
      bearing: 251.991830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009523 deg/s,
      cmd heading: 246.824322 deg,
      new cmd heading: 246.838712 deg.

2025-06-27T19:39:59.757Z,1751053199.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308148 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:39:59.884Z,1751053199.884 [DAT](INFO): DAT read: TxSync time:19:39:58.5671

2025-06-27T19:40:00.073Z,1751053200.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:00.080Z,1751053200.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:00.087Z,1751053200.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 292.457581 m,
      bearing: 251.995543 deg,
      approach rate: -0.759771 m/s,
      LOS rate: 0.010961 deg/s,
      cmd heading: 246.838720 deg,
      new cmd heading: 246.849869 deg.

2025-06-27T19:40:00.088Z,1751053200.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308343 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:00.136Z,1751053200.136 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:00.136Z,1751053200.136 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:00.137Z,1751053200.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:00.387Z,1751053200.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.727415
2025-06-27T19:40:00.437Z,1751053200.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:00.456Z,1751053200.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 292.187836 m,
      bearing: 251.999471 deg,
      approach rate: -0.755287 m/s,
      LOS rate: 0.011010 deg/s,
      cmd heading: 246.849867 deg,
      new cmd heading: 246.861663 deg.

2025-06-27T19:40:00.457Z,1751053200.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308549 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:00.639Z,1751053200.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979478
2025-06-27T19:40:00.867Z,1751053200.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:00.870Z,1751053200.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 291.887817 m,
      bearing: 252.003003 deg,
      approach rate: -0.696984 m/s,
      LOS rate: 0.008213 deg/s,
      cmd heading: 246.861669 deg,
      new cmd heading: 246.872275 deg.

2025-06-27T19:40:00.872Z,1751053200.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308734 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:00.891Z,1751053200.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231589
2025-06-27T19:40:01.143Z,1751053201.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483476
2025-06-27T19:40:01.250Z,1751053201.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:01.253Z,1751053201.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 291.620850 m,
      bearing: 252.006004 deg,
      approach rate: -0.697441 m/s,
      LOS rate: 0.007848 deg/s,
      cmd heading: 246.872270 deg,
      new cmd heading: 246.881282 deg.

2025-06-27T19:40:01.254Z,1751053201.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308891 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:01.396Z,1751053201.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735734
2025-06-27T19:40:01.647Z,1751053201.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987623
2025-06-27T19:40:01.679Z,1751053201.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:01.682Z,1751053201.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 291.324860 m,
      bearing: 252.008582 deg,
      approach rate: -0.689781 m/s,
      LOS rate: 0.006014 deg/s,
      cmd heading: 246.881286 deg,
      new cmd heading: 246.889027 deg.

2025-06-27T19:40:01.683Z,1751053201.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309026 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:01.899Z,1751053201.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239467
2025-06-27T19:40:02.067Z,1751053202.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:02.070Z,1751053202.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 291.057556 m,
      bearing: 252.010862 deg,
      approach rate: -0.688900 m/s,
      LOS rate: 0.005881 deg/s,
      cmd heading: 246.889017 deg,
      new cmd heading: 246.895864 deg.

2025-06-27T19:40:02.071Z,1751053202.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309146 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:02.152Z,1751053202.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492226
2025-06-27T19:40:02.403Z,1751053202.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743537
2025-06-27T19:40:02.469Z,1751053202.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:02.472Z,1751053202.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:02.474Z,1751053202.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 290.778839 m,
      bearing: 252.013207 deg,
      approach rate: -0.689389 m/s,
      LOS rate: 0.005807 deg/s,
      cmd heading: 246.895875 deg,
      new cmd heading: 246.902918 deg.

2025-06-27T19:40:02.475Z,1751053202.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309269 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:02.655Z,1751053202.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995516
2025-06-27T19:40:02.895Z,1751053202.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:02.898Z,1751053202.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 290.500305 m,
      bearing: 252.014588 deg,
      approach rate: -0.657095 m/s,
      LOS rate: 0.003259 deg/s,
      cmd heading: 246.902924 deg,
      new cmd heading: 246.907069 deg.

2025-06-27T19:40:02.900Z,1751053202.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309341 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:02.907Z,1751053202.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247584
2025-06-27T19:40:03.159Z,1751053203.159 [DAT](INFO): DAT read: Rx Time:19:40:01.3934

2025-06-27T19:40:03.160Z,1751053203.160 [DAT](INFO): Rx dataTimestamp_ set to:1751053203.159635
2025-06-27T19:40:03.160Z,1751053203.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500634
2025-06-27T19:40:03.271Z,1751053203.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.12 m.
2025-06-27T19:40:03.274Z,1751053203.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 315.117584 m,
      nav range: 290.232300 m,
      bearing: 252.015900 deg,
      approach rate: -0.712902 m/s,
      LOS rate: 0.003494 deg/s,
      cmd heading: 246.907076 deg,
      new cmd heading: 246.911017 deg.

2025-06-27T19:40:03.275Z,1751053203.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309410 target range: 315.117584 and range: 318.00 m.
2025-06-27T19:40:03.411Z,1751053203.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751451
2025-06-27T19:40:03.669Z,1751053203.669 [DAT](INFO): DAT read: 19:40:01.3934 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.33, 1.164,-0.091, 1.080, 0.580, PHS= 0.673,-0.623, 0.497, RAW= 142.8,  -9.0, CAL= 149.6, -18.3, ROT=   0.4,  18.3

2025-06-27T19:40:03.671Z,1751053203.671 [DAT](INFO): got valid direction response:
 19:40:01.3934 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 406, 0.33, 1.164,-0.091, 1.080, 0.580, PHS= 0.673,-0.623, 0.497, RAW= 142.8,  -9.0, CAL= 149.6, -18.3, ROT=   0.4,  18.3

2025-06-27T19:40:03.672Z,1751053203.672 [DAT](INFO): DAT read: Bearing   0.4,  18.3 (Local)

2025-06-27T19:40:03.672Z,1751053203.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  18.3 (Local)

2025-06-27T19:40:03.673Z,1751053203.673 [DAT](INFO): DAT read: Range 10 to 50 : 315.9 m  (Round-trip  421.3 ms) speed  0.8 m/s

2025-06-27T19:40:03.674Z,1751053203.674 [DAT](INFO): DAT read: user:2645>

2025-06-27T19:40:03.675Z,1751053203.675 [DAT](INFO): DAT read: Tx time:19:40:02.5179

2025-06-27T19:40:03.675Z,1751053203.675 [DAT](INFO): Ping request sent.
2025-06-27T19:40:03.675Z,1751053203.675 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:03.676Z,1751053203.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:03.677Z,1751053203.677 [DAT](INFO): direction in FSK: [0.949402,0.006628,-0.313992]
2025-06-27T19:40:03.677Z,1751053203.677 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:03.677Z,1751053203.677 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:03.723Z,1751053203.723 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:03.723Z,1751053203.723 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:03.796Z,1751053203.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 315.899994 m,
      deltaT: 4.032015 s,
      deltaX: -2.100006 m,
      approachRate: -0.520833 m/s,
      rangeRepo size: 4

2025-06-27T19:40:03.803Z,1751053203.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 313.036987 m,
      bearing: 248.913833 deg,
      lat: 36.906508 deg,
      lon: -122.116467 deg,
      deltaT: 4.032015 s,
      deltaX: -2.080597 m,
      approachRate: -0.516019 m/s,
      posRepo size: 4

2025-06-27T19:40:03.803Z,1751053203.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:03.806Z,1751053203.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 294.902985 m,
      bearing: 249.226157 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003494 deg/s,
      cmd heading: 246.911011 deg,
      new cmd heading: 246.916506 deg.

2025-06-27T19:40:03.811Z,1751053203.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309506 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:03.916Z,1751053203.916 [DAT](INFO): DAT read: TxSync time:19:40:02.5171

2025-06-27T19:40:04.131Z,1751053204.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:04.133Z,1751053204.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 294.666107 m,
      bearing: 249.223117 deg,
      approach rate: -0.716168 m/s,
      LOS rate: -0.009199 deg/s,
      cmd heading: 246.916502 deg,
      new cmd heading: 246.907374 deg.

2025-06-27T19:40:04.138Z,1751053204.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309347 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:04.491Z,1751053204.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:04.493Z,1751053204.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:04.496Z,1751053204.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 294.412659 m,
      bearing: 249.220004 deg,
      approach rate: -0.690426 m/s,
      LOS rate: -0.008487 deg/s,
      cmd heading: 246.907377 deg,
      new cmd heading: 246.898031 deg.

2025-06-27T19:40:04.497Z,1751053204.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309184 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:04.671Z,1751053204.671 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:04.671Z,1751053204.671 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:04.672Z,1751053204.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:04.923Z,1751053204.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247955
2025-06-27T19:40:04.931Z,1751053204.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:04.934Z,1751053204.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 294.112061 m,
      bearing: 249.216123 deg,
      approach rate: -0.687643 m/s,
      LOS rate: -0.008886 deg/s,
      cmd heading: 246.898033 deg,
      new cmd heading: 246.886380 deg.

2025-06-27T19:40:04.935Z,1751053204.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308980 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:05.175Z,1751053205.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499901
2025-06-27T19:40:05.304Z,1751053205.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:05.307Z,1751053205.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 293.853668 m,
      bearing: 249.212779 deg,
      approach rate: -0.692670 m/s,
      LOS rate: -0.008975 deg/s,
      cmd heading: 246.886367 deg,
      new cmd heading: 246.876324 deg.

2025-06-27T19:40:05.308Z,1751053205.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308805 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:05.428Z,1751053205.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751985
2025-06-27T19:40:05.679Z,1751053205.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003787
2025-06-27T19:40:05.754Z,1751053205.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:05.757Z,1751053205.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 293.536896 m,
      bearing: 249.209953 deg,
      approach rate: -0.704123 m/s,
      LOS rate: -0.006287 deg/s,
      cmd heading: 246.876313 deg,
      new cmd heading: 246.867828 deg.

2025-06-27T19:40:05.758Z,1751053205.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308656 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:05.931Z,1751053205.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255970
2025-06-27T19:40:06.114Z,1751053206.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:06.117Z,1751053206.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 293.283112 m,
      bearing: 249.207676 deg,
      approach rate: -0.704567 m/s,
      LOS rate: -0.006328 deg/s,
      cmd heading: 246.867817 deg,
      new cmd heading: 246.860979 deg.

2025-06-27T19:40:06.118Z,1751053206.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308537 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:06.185Z,1751053206.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509383
2025-06-27T19:40:06.435Z,1751053206.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759731
2025-06-27T19:40:06.511Z,1751053206.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:06.513Z,1751053206.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:06.516Z,1751053206.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 293.001892 m,
      bearing: 249.205137 deg,
      approach rate: -0.703451 m/s,
      LOS rate: -0.006357 deg/s,
      cmd heading: 246.860986 deg,
      new cmd heading: 246.853363 deg.

2025-06-27T19:40:06.517Z,1751053206.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308404 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:06.687Z,1751053206.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011893
2025-06-27T19:40:06.940Z,1751053206.940 [DAT](INFO): DAT read: Rx Time:19:40:05.3382

2025-06-27T19:40:06.941Z,1751053206.941 [DAT](INFO): Rx dataTimestamp_ set to:1751053206.940315
2025-06-27T19:40:06.941Z,1751053206.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265633
2025-06-27T19:40:06.997Z,1751053206.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:07.010Z,1751053207.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 292.674866 m,
      bearing: 249.203058 deg,
      approach rate: -0.676750 m/s,
      LOS rate: -0.004307 deg/s,
      cmd heading: 246.853364 deg,
      new cmd heading: 246.847120 deg.

2025-06-27T19:40:07.016Z,1751053207.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308295 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:07.191Z,1751053207.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515805
2025-06-27T19:40:07.384Z,1751053207.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:07.403Z,1751053207.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 292.378906 m,
      bearing: 249.201172 deg,
      approach rate: -0.763548 m/s,
      LOS rate: -0.004870 deg/s,
      cmd heading: 246.847107 deg,
      new cmd heading: 246.841444 deg.

2025-06-27T19:40:07.404Z,1751053207.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308196 target range: 313.036987 and range: 315.90 m.
2025-06-27T19:40:07.448Z,1751053207.448 [DAT](INFO): DAT read: Range 10 to 50 : 312.1 m  (Round-trip  416.2 ms) speed  0.5 m/s

2025-06-27T19:40:07.449Z,1751053207.449 [DAT](INFO): DAT read: user:2646>

2025-06-27T19:40:07.449Z,1751053207.449 [DAT](INFO): DAT read: Tx time:19:40:06.4179

2025-06-27T19:40:07.450Z,1751053207.450 [DAT](INFO): Ping request sent.
2025-06-27T19:40:07.450Z,1751053207.450 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:07.450Z,1751053207.450 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:07.450Z,1751053207.450 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:07.451Z,1751053207.451 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:07.696Z,1751053207.696 [DAT](INFO): DAT read: TxSync time:19:40:06.4171

2025-06-27T19:40:07.852Z,1751053207.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.100006 m,
      deltaT: 3.783348 s,
      deltaX: -3.799988 m,
      approachRate: -1.004398 m/s,
      rangeRepo size: 4

2025-06-27T19:40:07.853Z,1751053207.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:07.856Z,1751053207.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 292.032715 m,
      bearing: 249.201155 deg,
      approach rate: -0.740887 m/s,
      LOS rate: -0.000037 deg/s,
      cmd heading: 246.841452 deg,
      new cmd heading: 246.841400 deg.

2025-06-27T19:40:07.857Z,1751053207.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308195 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:08.183Z,1751053208.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:08.186Z,1751053208.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 291.805481 m,
      bearing: 249.201198 deg,
      approach rate: -0.695931 m/s,
      LOS rate: 0.000132 deg/s,
      cmd heading: 246.841397 deg,
      new cmd heading: 246.841527 deg.

2025-06-27T19:40:08.191Z,1751053208.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308197 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:08.590Z,1751053208.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:08.592Z,1751053208.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:08.595Z,1751053208.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 291.494263 m,
      bearing: 249.201257 deg,
      approach rate: -0.751122 m/s,
      LOS rate: 0.000143 deg/s,
      cmd heading: 246.841534 deg,
      new cmd heading: 246.841711 deg.

2025-06-27T19:40:08.596Z,1751053208.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308200 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:08.703Z,1751053208.703 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:08.703Z,1751053208.703 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:08.704Z,1751053208.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:08.955Z,1751053208.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505646
2025-06-27T19:40:08.983Z,1751053208.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:08.985Z,1751053208.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 291.193115 m,
      bearing: 249.203272 deg,
      approach rate: -0.772189 m/s,
      LOS rate: 0.005173 deg/s,
      cmd heading: 246.841698 deg,
      new cmd heading: 246.847750 deg.

2025-06-27T19:40:09.003Z,1751053209.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308306 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:09.207Z,1751053209.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757667
2025-06-27T19:40:09.376Z,1751053209.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:09.379Z,1751053209.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 290.899506 m,
      bearing: 249.205301 deg,
      approach rate: -0.745774 m/s,
      LOS rate: 0.005157 deg/s,
      cmd heading: 246.847763 deg,
      new cmd heading: 246.853854 deg.

2025-06-27T19:40:09.380Z,1751053209.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308413 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:09.460Z,1751053209.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010325
2025-06-27T19:40:09.711Z,1751053209.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261573
2025-06-27T19:40:09.795Z,1751053209.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:09.798Z,1751053209.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 290.595703 m,
      bearing: 249.208398 deg,
      approach rate: -0.724972 m/s,
      LOS rate: 0.007398 deg/s,
      cmd heading: 246.853856 deg,
      new cmd heading: 246.863156 deg.

2025-06-27T19:40:09.803Z,1751053209.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308575 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:09.963Z,1751053209.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513703
2025-06-27T19:40:10.156Z,1751053210.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:10.159Z,1751053210.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 290.305878 m,
      bearing: 249.211354 deg,
      approach rate: -0.803979 m/s,
      LOS rate: 0.008210 deg/s,
      cmd heading: 246.863145 deg,
      new cmd heading: 246.872024 deg.

2025-06-27T19:40:10.160Z,1751053210.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308730 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:10.216Z,1751053210.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766082
2025-06-27T19:40:10.468Z,1751053210.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017909
2025-06-27T19:40:10.584Z,1751053210.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:10.588Z,1751053210.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 289.993500 m,
      bearing: 249.214494 deg,
      approach rate: -0.728594 m/s,
      LOS rate: 0.007330 deg/s,
      cmd heading: 246.872024 deg,
      new cmd heading: 246.881452 deg.

2025-06-27T19:40:10.589Z,1751053210.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308894 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:10.723Z,1751053210.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272069
2025-06-27T19:40:10.971Z,1751053210.971 [DAT](INFO): DAT read: Rx Time:19:40:09.2367

2025-06-27T19:40:10.972Z,1751053210.972 [DAT](INFO): Rx dataTimestamp_ set to:1751053210.971620
2025-06-27T19:40:10.972Z,1751053210.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522694
2025-06-27T19:40:11.036Z,1751053211.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:11.043Z,1751053211.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:11.045Z,1751053211.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 289.626587 m,
      bearing: 249.219048 deg,
      approach rate: -0.807982 m/s,
      LOS rate: 0.010042 deg/s,
      cmd heading: 246.881450 deg,
      new cmd heading: 246.895130 deg.

2025-06-27T19:40:11.051Z,1751053211.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309133 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:11.223Z,1751053211.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773528
2025-06-27T19:40:11.370Z,1751053211.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:11.373Z,1751053211.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 289.368469 m,
      bearing: 249.222244 deg,
      approach rate: -0.778319 m/s,
      LOS rate: 0.009647 deg/s,
      cmd heading: 246.895137 deg,
      new cmd heading: 246.904735 deg.

2025-06-27T19:40:11.374Z,1751053211.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309300 target range: 313.036987 and range: 312.10 m.
2025-06-27T19:40:11.477Z,1751053211.477 [DAT](INFO): DAT read: Range 10 to 50 : 310.8 m  (Round-trip  414.5 ms) speed  0.3 m/s

2025-06-27T19:40:11.479Z,1751053211.479 [DAT](INFO): DAT read: user:2647>

2025-06-27T19:40:11.480Z,1751053211.480 [DAT](INFO): DAT read: Tx time:19:40:10.3180

2025-06-27T19:40:11.480Z,1751053211.480 [DAT](INFO): Ping request sent.
2025-06-27T19:40:11.481Z,1751053211.481 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:11.481Z,1751053211.481 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:11.481Z,1751053211.481 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:11.483Z,1751053211.483 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:11.730Z,1751053211.730 [DAT](INFO): DAT read: TxSync time:19:40:10.3172

2025-06-27T19:40:11.813Z,1751053211.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.799988 m,
      deltaT: 4.029110 s,
      deltaX: -1.300018 m,
      approachRate: -0.322656 m/s,
      rangeRepo size: 4

2025-06-27T19:40:11.814Z,1751053211.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:11.820Z,1751053211.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 289.024719 m,
      bearing: 249.225266 deg,
      approach rate: -0.777671 m/s,
      LOS rate: 0.006843 deg/s,
      cmd heading: 246.904727 deg,
      new cmd heading: 246.913802 deg.

2025-06-27T19:40:11.821Z,1751053211.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309459 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:12.177Z,1751053212.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:12.180Z,1751053212.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 288.728729 m,
      bearing: 249.227928 deg,
      approach rate: -0.811835 m/s,
      LOS rate: 0.007308 deg/s,
      cmd heading: 246.913797 deg,
      new cmd heading: 246.921791 deg.

2025-06-27T19:40:12.181Z,1751053212.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309598 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:12.598Z,1751053212.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:12.601Z,1751053212.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 288.394653 m,
      bearing: 249.230938 deg,
      approach rate: -0.793098 m/s,
      LOS rate: 0.007156 deg/s,
      cmd heading: 246.921802 deg,
      new cmd heading: 246.930845 deg.

2025-06-27T19:40:12.602Z,1751053212.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309756 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:13.037Z,1751053213.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:13.044Z,1751053213.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 288.079956 m,
      bearing: 249.231258 deg,
      approach rate: -0.716896 m/s,
      LOS rate: 0.000730 deg/s,
      cmd heading: 246.930846 deg,
      new cmd heading: 246.931806 deg.

2025-06-27T19:40:13.045Z,1751053213.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309773 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:13.392Z,1751053213.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:13.394Z,1751053213.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:13.397Z,1751053213.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 287.784729 m,
      bearing: 249.231516 deg,
      approach rate: -0.826490 m/s,
      LOS rate: 0.000723 deg/s,
      cmd heading: 246.931802 deg,
      new cmd heading: 246.932577 deg.

2025-06-27T19:40:13.398Z,1751053213.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309786 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:13.492Z,1751053213.492 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:13.492Z,1751053213.492 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:13.492Z,1751053213.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:13.749Z,1751053213.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267499
2025-06-27T19:40:13.887Z,1751053213.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:13.889Z,1751053213.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 287.419556 m,
      bearing: 249.231053 deg,
      approach rate: -0.748111 m/s,
      LOS rate: -0.000951 deg/s,
      cmd heading: 246.932567 deg,
      new cmd heading: 246.931174 deg.

2025-06-27T19:40:13.894Z,1751053213.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309762 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:13.996Z,1751053213.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515502
2025-06-27T19:40:14.247Z,1751053214.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766835
2025-06-27T19:40:14.248Z,1751053214.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:14.251Z,1751053214.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 287.141876 m,
      bearing: 249.230699 deg,
      approach rate: -0.763361 m/s,
      LOS rate: -0.000972 deg/s,
      cmd heading: 246.931173 deg,
      new cmd heading: 246.930112 deg.

2025-06-27T19:40:14.252Z,1751053214.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309743 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:14.499Z,1751053214.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018768
2025-06-27T19:40:14.662Z,1751053214.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:14.664Z,1751053214.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 286.843384 m,
      bearing: 249.230309 deg,
      approach rate: -0.723902 m/s,
      LOS rate: -0.000947 deg/s,
      cmd heading: 246.930108 deg,
      new cmd heading: 246.928937 deg.

2025-06-27T19:40:14.665Z,1751053214.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309723 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:14.756Z,1751053214.756 [DAT](INFO): DAT read: Rx Time:19:40:13.1140

2025-06-27T19:40:14.757Z,1751053214.757 [DAT](INFO): Rx dataTimestamp_ set to:1751053214.755952
2025-06-27T19:40:14.759Z,1751053214.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277447
2025-06-27T19:40:15.004Z,1751053215.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522910
2025-06-27T19:40:15.093Z,1751053215.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 313.04 m.
2025-06-27T19:40:15.097Z,1751053215.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 313.036987 m,
      nav range: 286.522125 m,
      bearing: 249.229525 deg,
      approach rate: -0.738527 m/s,
      LOS rate: -0.001805 deg/s,
      cmd heading: 246.928933 deg,
      new cmd heading: 246.926577 deg.

2025-06-27T19:40:15.098Z,1751053215.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309682 target range: 313.036987 and range: 310.80 m.
2025-06-27T19:40:15.263Z,1751053215.263 [DAT](INFO): DAT read: 19:40:13.1140 LVL= 22736, 29841, 25170, 32755, AGC= 71, IDX= 216, 0.10, 2.644, 1.074, 2.526, 1.764, PHS= 0.968,-0.643, 0.759, RAW= 143.2, -14.2, CAL= 149.8, -22.7, ROT=   0.2,  22.7

2025-06-27T19:40:15.265Z,1751053215.265 [DAT](INFO): got valid direction response:
 19:40:13.1140 LVL= 22736, 29841, 25170, 32755, AGC= 71, IDX= 216, 0.10, 2.644, 1.074, 2.526, 1.764, PHS= 0.968,-0.643, 0.759, RAW= 143.2, -14.2, CAL= 149.8, -22.7, ROT=   0.2,  22.7

2025-06-27T19:40:15.265Z,1751053215.265 [DAT](INFO): DAT read: Bearing   0.2,  22.7 (Local)

2025-06-27T19:40:15.266Z,1751053215.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  22.7 (Local)

2025-06-27T19:40:15.268Z,1751053215.268 [DAT](INFO): DAT read: Range 10 to 50 : 293.8 m  (Round-trip  391.8 ms) speed  0.3 m/s

2025-06-27T19:40:15.269Z,1751053215.269 [DAT](INFO): DAT read: user:2648>

2025-06-27T19:40:15.270Z,1751053215.270 [DAT](INFO): DAT read: Tx time:19:40:14.2180

2025-06-27T19:40:15.270Z,1751053215.270 [DAT](INFO): Ping request sent.
2025-06-27T19:40:15.270Z,1751053215.270 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:15.271Z,1751053215.271 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:15.272Z,1751053215.272 [DAT](INFO): direction in FSK: [0.922532,0.003220,-0.385906]
2025-06-27T19:40:15.272Z,1751053215.272 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:15.272Z,1751053215.272 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:15.275Z,1751053215.275 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:15.276Z,1751053215.276 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:15.463Z,1751053215.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 293.799988 m,
      deltaT: 3.781376 s,
      deltaX: -17.000000 m,
      approachRate: -4.495718 m/s,
      rangeRepo size: 4

2025-06-27T19:40:15.465Z,1751053215.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 291.134949 m,
      bearing: 248.811516 deg,
      lat: 36.906534 deg,
      lon: -122.116467 deg,
      deltaT: 11.593834 s,
      deltaX: -21.902039 m,
      approachRate: -1.889111 m/s,
      posRepo size: 4

2025-06-27T19:40:15.466Z,1751053215.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:15.469Z,1751053215.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 285.271698 m,
      bearing: 249.754014 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001805 deg/s,
      cmd heading: 246.926583 deg,
      new cmd heading: 246.924587 deg.

2025-06-27T19:40:15.470Z,1751053215.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309647 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:15.508Z,1751053215.508 [DAT](INFO): DAT read: TxSync time:19:40:14.2172

2025-06-27T19:40:15.894Z,1751053215.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:15.900Z,1751053215.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:15.907Z,1751053215.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 284.974701 m,
      bearing: 249.752589 deg,
      approach rate: -0.677831 m/s,
      LOS rate: -0.003256 deg/s,
      cmd heading: 246.924589 deg,
      new cmd heading: 246.920309 deg.

2025-06-27T19:40:15.908Z,1751053215.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309572 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:16.012Z,1751053216.012 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:16.012Z,1751053216.012 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:16.012Z,1751053216.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:16.240Z,1751053216.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:16.243Z,1751053216.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 284.717163 m,
      bearing: 249.751291 deg,
      approach rate: -0.758499 m/s,
      LOS rate: -0.003826 deg/s,
      cmd heading: 246.920300 deg,
      new cmd heading: 246.916402 deg.

2025-06-27T19:40:16.244Z,1751053216.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309504 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:16.263Z,1751053216.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993346
2025-06-27T19:40:16.403Z,1751053216.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:40:16.515Z,1751053216.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245167
2025-06-27T19:40:16.649Z,1751053216.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:16.652Z,1751053216.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 284.426086 m,
      bearing: 249.749820 deg,
      approach rate: -0.711775 m/s,
      LOS rate: -0.003599 deg/s,
      cmd heading: 246.916393 deg,
      new cmd heading: 246.911977 deg.

2025-06-27T19:40:16.653Z,1751053216.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309427 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:16.770Z,1751053216.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499583
2025-06-27T19:40:17.020Z,1751053217.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750063
2025-06-27T19:40:17.093Z,1751053217.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:17.099Z,1751053217.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 284.132843 m,
      bearing: 249.748086 deg,
      approach rate: -0.660723 m/s,
      LOS rate: -0.003911 deg/s,
      cmd heading: 246.911967 deg,
      new cmd heading: 246.906759 deg.

2025-06-27T19:40:17.100Z,1751053217.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309336 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:17.271Z,1751053217.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001157
2025-06-27T19:40:17.407Z,1751053217.407 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:40:17.458Z,1751053217.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:17.461Z,1751053217.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 283.863647 m,
      bearing: 249.746476 deg,
      approach rate: -0.736943 m/s,
      LOS rate: -0.004411 deg/s,
      cmd heading: 246.906749 deg,
      new cmd heading: 246.901915 deg.

2025-06-27T19:40:17.462Z,1751053217.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309251 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:17.524Z,1751053217.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253510
2025-06-27T19:40:17.778Z,1751053217.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507331
2025-06-27T19:40:17.890Z,1751053217.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:17.893Z,1751053217.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 283.580017 m,
      bearing: 249.744643 deg,
      approach rate: -0.656795 m/s,
      LOS rate: -0.004249 deg/s,
      cmd heading: 246.901913 deg,
      new cmd heading: 246.896408 deg.

2025-06-27T19:40:17.894Z,1751053217.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309155 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:18.027Z,1751053218.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757149
2025-06-27T19:40:18.264Z,1751053218.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:18.267Z,1751053218.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:18.269Z,1751053218.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 283.312195 m,
      bearing: 249.742839 deg,
      approach rate: -0.710790 m/s,
      LOS rate: -0.004792 deg/s,
      cmd heading: 246.896394 deg,
      new cmd heading: 246.890978 deg.

2025-06-27T19:40:18.271Z,1751053218.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309061 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:18.279Z,1751053218.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009314
2025-06-27T19:40:18.531Z,1751053218.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261285
2025-06-27T19:40:18.665Z,1751053218.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:18.668Z,1751053218.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 283.040253 m,
      bearing: 249.740961 deg,
      approach rate: -0.682579 m/s,
      LOS rate: -0.004719 deg/s,
      cmd heading: 246.890985 deg,
      new cmd heading: 246.885344 deg.

2025-06-27T19:40:18.669Z,1751053218.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308962 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:18.786Z,1751053218.786 [DAT](INFO): DAT read: Rx Time:19:40:17.0111

2025-06-27T19:40:18.787Z,1751053218.787 [DAT](INFO): Rx dataTimestamp_ set to:1751053218.786543
2025-06-27T19:40:18.789Z,1751053218.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518617
2025-06-27T19:40:19.035Z,1751053219.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765202
2025-06-27T19:40:19.172Z,1751053219.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 291.13 m.
2025-06-27T19:40:19.179Z,1751053219.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 291.134949 m,
      nav range: 282.692657 m,
      bearing: 249.738490 deg,
      approach rate: -0.684915 m/s,
      LOS rate: -0.004874 deg/s,
      cmd heading: 246.885356 deg,
      new cmd heading: 246.877936 deg.

2025-06-27T19:40:19.180Z,1751053219.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308833 target range: 291.134949 and range: 293.80 m.
2025-06-27T19:40:19.293Z,1751053219.293 [DAT](INFO): DAT read: 19:40:17.0111 LVL= 27920, 32753, 30402, 32755, AGC= 63, IDX= 409, 0.26,-2.711, 2.332,-2.789, 2.942, PHS= 0.718,-0.562, 0.550, RAW= 143.1, -11.7, CAL= 150.1, -20.8, ROT= 359.9,  20.8

2025-06-27T19:40:19.295Z,1751053219.295 [DAT](INFO): got valid direction response:
 19:40:17.0111 LVL= 27920, 32753, 30402, 32755, AGC= 63, IDX= 409, 0.26,-2.711, 2.332,-2.789, 2.942, PHS= 0.718,-0.562, 0.550, RAW= 143.1, -11.7, CAL= 150.1, -20.8, ROT= 359.9,  20.8

2025-06-27T19:40:19.296Z,1751053219.296 [DAT](INFO): DAT read: Bearing 359.9,  20.8 (Local)

2025-06-27T19:40:19.296Z,1751053219.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  20.8 (Local)

2025-06-27T19:40:19.298Z,1751053219.298 [DAT](INFO): DAT read: Range 10 to 50 : 291.6 m  (Round-trip  388.8 ms) speed  0.3 m/s

2025-06-27T19:40:19.307Z,1751053219.307 [DAT](INFO): DAT read: user:2649>

2025-06-27T19:40:19.307Z,1751053219.307 [DAT](INFO): DAT read: Tx time:19:40:18.1181

2025-06-27T19:40:19.308Z,1751053219.308 [DAT](INFO): Ping request sent.
2025-06-27T19:40:19.308Z,1751053219.308 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:19.308Z,1751053219.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:19.309Z,1751053219.309 [DAT](INFO): direction in FSK: [0.934824,-0.001632,-0.355107]
2025-06-27T19:40:19.309Z,1751053219.309 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:19.310Z,1751053219.310 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:19.317Z,1751053219.317 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:19.317Z,1751053219.317 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:19.524Z,1751053219.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 291.600006 m,
      deltaT: 4.030152 s,
      deltaX: -2.199982 m,
      approachRate: -0.545881 m/s,
      rangeRepo size: 4

2025-06-27T19:40:19.531Z,1751053219.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.955231 m,
      bearing: 248.503239 deg,
      lat: 36.906512 deg,
      lon: -122.116467 deg,
      deltaT: 4.030152 s,
      deltaX: -2.179718 m,
      approachRate: -0.540853 m/s,
      posRepo size: 4

2025-06-27T19:40:19.535Z,1751053219.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:19.537Z,1751053219.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 283.309448 m,
      bearing: 249.278368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004874 deg/s,
      cmd heading: 246.877925 deg,
      new cmd heading: 246.872790 deg.

2025-06-27T19:40:19.540Z,1751053219.540 [DAT](INFO): DAT read: TxSync time:19:40:18.1173

2025-06-27T19:40:19.540Z,1751053219.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308743 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:19.923Z,1751053219.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:19.925Z,1751053219.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 283.022217 m,
      bearing: 249.277182 deg,
      approach rate: -0.750102 m/s,
      LOS rate: -0.003099 deg/s,
      cmd heading: 246.872789 deg,
      new cmd heading: 246.869228 deg.

2025-06-27T19:40:19.931Z,1751053219.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308681 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:20.342Z,1751053220.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:20.344Z,1751053220.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:20.347Z,1751053220.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 282.712860 m,
      bearing: 249.275877 deg,
      approach rate: -0.707187 m/s,
      LOS rate: -0.002988 deg/s,
      cmd heading: 246.869237 deg,
      new cmd heading: 246.865316 deg.

2025-06-27T19:40:20.348Z,1751053220.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308612 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:20.547Z,1751053220.547 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:20.547Z,1751053220.547 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:20.547Z,1751053220.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:20.727Z,1751053220.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:20.730Z,1751053220.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 282.456329 m,
      bearing: 249.274792 deg,
      approach rate: -0.669959 m/s,
      LOS rate: -0.002836 deg/s,
      cmd heading: 246.865303 deg,
      new cmd heading: 246.862046 deg.

2025-06-27T19:40:20.735Z,1751053220.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308556 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:20.800Z,1751053220.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492262
2025-06-27T19:40:21.051Z,1751053221.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743530
2025-06-27T19:40:21.136Z,1751053221.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:21.139Z,1751053221.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 282.147644 m,
      bearing: 249.274094 deg,
      approach rate: -0.754721 m/s,
      LOS rate: -0.001708 deg/s,
      cmd heading: 246.862052 deg,
      new cmd heading: 246.859956 deg.

2025-06-27T19:40:21.140Z,1751053221.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308519 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:21.304Z,1751053221.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995709
2025-06-27T19:40:21.510Z,1751053221.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:21.513Z,1751053221.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 281.878601 m,
      bearing: 249.273430 deg,
      approach rate: -0.718888 m/s,
      LOS rate: -0.001777 deg/s,
      cmd heading: 246.859948 deg,
      new cmd heading: 246.857953 deg.

2025-06-27T19:40:21.514Z,1751053221.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308484 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:21.556Z,1751053221.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248468
2025-06-27T19:40:21.807Z,1751053221.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499514
2025-06-27T19:40:21.976Z,1751053221.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:21.983Z,1751053221.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 281.537933 m,
      bearing: 249.273760 deg,
      approach rate: -0.730558 m/s,
      LOS rate: 0.000710 deg/s,
      cmd heading: 246.857954 deg,
      new cmd heading: 246.858947 deg.

2025-06-27T19:40:21.984Z,1751053221.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308501 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:22.059Z,1751053222.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751670
2025-06-27T19:40:22.306Z,1751053222.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:22.309Z,1751053222.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 281.292053 m,
      bearing: 249.273998 deg,
      approach rate: -0.746120 m/s,
      LOS rate: 0.000722 deg/s,
      cmd heading: 246.858937 deg,
      new cmd heading: 246.859651 deg.

2025-06-27T19:40:22.310Z,1751053222.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308514 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:22.312Z,1751053222.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003714
2025-06-27T19:40:22.564Z,1751053222.564 [DAT](INFO): DAT read: Rx Time:19:40:20.9066

2025-06-27T19:40:22.564Z,1751053222.564 [DAT](INFO): Rx dataTimestamp_ set to:1751053222.563728
2025-06-27T19:40:22.565Z,1751053222.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256771
2025-06-27T19:40:22.725Z,1751053222.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:22.727Z,1751053222.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.96 m.
2025-06-27T19:40:22.730Z,1751053222.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.955231 m,
      nav range: 280.988037 m,
      bearing: 249.274293 deg,
      approach rate: -0.721964 m/s,
      LOS rate: 0.000700 deg/s,
      cmd heading: 246.859648 deg,
      new cmd heading: 246.860532 deg.

2025-06-27T19:40:22.731Z,1751053222.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308529 target range: 288.955231 and range: 291.60 m.
2025-06-27T19:40:22.816Z,1751053222.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507846
2025-06-27T19:40:23.073Z,1751053223.073 [DAT](INFO): DAT read: 19:40:20.9066 LVL= 26592, 32753, 31346, 32755, AGC= 69, IDX= 395, 0.03,-2.352, 2.635,-2.519,-3.080, PHS= 0.816,-0.522, 0.558, RAW= 139.5, -13.8, CAL= 145.7, -23.0, ROT=   4.3,  23.0

2025-06-27T19:40:23.079Z,1751053223.079 [DAT](INFO): got valid direction response:
 19:40:20.9066 LVL= 26592, 32753, 31346, 32755, AGC= 69, IDX= 395, 0.03,-2.352, 2.635,-2.519,-3.080, PHS= 0.816,-0.522, 0.558, RAW= 139.5, -13.8, CAL= 145.7, -23.0, ROT=   4.3,  23.0

2025-06-27T19:40:23.080Z,1751053223.080 [DAT](INFO): DAT read: Bearing   4.3,  23.0 (Local)

2025-06-27T19:40:23.080Z,1751053223.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  23.0 (Local)

2025-06-27T19:40:23.081Z,1751053223.081 [DAT](INFO): DAT read: Range 10 to 50 : 288.2 m  (Round-trip  384.3 ms) speed  0.4 m/s

2025-06-27T19:40:23.090Z,1751053223.090 [DAT](INFO): DAT read: user:2650>

2025-06-27T19:40:23.091Z,1751053223.091 [DAT](INFO): DAT read: Tx time:19:40:22.0197

2025-06-27T19:40:23.091Z,1751053223.091 [DAT](INFO): Ping request sent.
2025-06-27T19:40:23.092Z,1751053223.092 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:23.092Z,1751053223.092 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:23.093Z,1751053223.093 [DAT](INFO): direction in FSK: [0.917914,0.069018,-0.390731]
2025-06-27T19:40:23.093Z,1751053223.093 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:23.093Z,1751053223.093 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:23.109Z,1751053223.109 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:23.109Z,1751053223.109 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:23.267Z,1751053223.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.200012 m,
      deltaT: 3.780025 s,
      deltaX: -3.399994 m,
      approachRate: -0.899463 m/s,
      rangeRepo size: 4

2025-06-27T19:40:23.269Z,1751053223.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 285.586121 m,
      bearing: 253.252442 deg,
      lat: 36.906512 deg,
      lon: -122.116385 deg,
      deltaT: 3.780025 s,
      deltaX: -3.369110 m,
      approachRate: -0.891293 m/s,
      posRepo size: 4

2025-06-27T19:40:23.270Z,1751053223.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:23.276Z,1751053223.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 273.747650 m,
      bearing: 248.730877 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000700 deg/s,
      cmd heading: 246.860522 deg,
      new cmd heading: 246.861645 deg.

2025-06-27T19:40:23.277Z,1751053223.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308548 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:23.320Z,1751053223.320 [DAT](INFO): DAT read: TxSync time:19:40:22.0189

2025-06-27T19:40:23.585Z,1751053223.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:23.588Z,1751053223.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 273.506012 m,
      bearing: 248.730765 deg,
      approach rate: -0.748625 m/s,
      LOS rate: -0.000345 deg/s,
      cmd heading: 246.861642 deg,
      new cmd heading: 246.861308 deg.

2025-06-27T19:40:23.589Z,1751053223.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308543 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:24.018Z,1751053224.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:24.026Z,1751053224.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 273.171509 m,
      bearing: 248.731066 deg,
      approach rate: -0.772873 m/s,
      LOS rate: 0.000696 deg/s,
      cmd heading: 246.861314 deg,
      new cmd heading: 246.862218 deg.

2025-06-27T19:40:24.028Z,1751053224.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308558 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:24.384Z,1751053224.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:24.387Z,1751053224.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 272.877045 m,
      bearing: 248.731368 deg,
      approach rate: -0.803690 m/s,
      LOS rate: 0.000825 deg/s,
      cmd heading: 246.862216 deg,
      new cmd heading: 246.863122 deg.

2025-06-27T19:40:24.388Z,1751053224.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308574 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:24.775Z,1751053224.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:24.777Z,1751053224.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:24.780Z,1751053224.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 272.575745 m,
      bearing: 248.731725 deg,
      approach rate: -0.766620 m/s,
      LOS rate: 0.000908 deg/s,
      cmd heading: 246.863117 deg,
      new cmd heading: 246.864188 deg.

2025-06-27T19:40:24.781Z,1751053224.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308593 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:24.831Z,1751053224.831 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:24.831Z,1751053224.831 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:24.832Z,1751053224.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:25.083Z,1751053225.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991735
2025-06-27T19:40:25.232Z,1751053225.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:25.235Z,1751053225.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 272.238037 m,
      bearing: 248.732918 deg,
      approach rate: -0.742045 m/s,
      LOS rate: 0.002625 deg/s,
      cmd heading: 246.864183 deg,
      new cmd heading: 246.867766 deg.

2025-06-27T19:40:25.236Z,1751053225.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308655 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:25.335Z,1751053225.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243837
2025-06-27T19:40:25.587Z,1751053225.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495798
2025-06-27T19:40:25.592Z,1751053225.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:25.595Z,1751053225.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 271.946350 m,
      bearing: 248.733894 deg,
      approach rate: -0.810706 m/s,
      LOS rate: 0.002716 deg/s,
      cmd heading: 246.867762 deg,
      new cmd heading: 246.870694 deg.

2025-06-27T19:40:25.596Z,1751053225.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308706 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:25.839Z,1751053225.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747666
2025-06-27T19:40:26.032Z,1751053226.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:26.035Z,1751053226.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 271.607574 m,
      bearing: 248.734520 deg,
      approach rate: -0.769249 m/s,
      LOS rate: 0.001425 deg/s,
      cmd heading: 246.870685 deg,
      new cmd heading: 246.872568 deg.

2025-06-27T19:40:26.036Z,1751053226.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308739 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:26.092Z,1751053226.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000652
2025-06-27T19:40:26.343Z,1751053226.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251737
2025-06-27T19:40:26.411Z,1751053226.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:26.413Z,1751053226.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 271.330658 m,
      bearing: 248.735033 deg,
      approach rate: -0.731442 m/s,
      LOS rate: 0.001355 deg/s,
      cmd heading: 246.872570 deg,
      new cmd heading: 246.874110 deg.

2025-06-27T19:40:26.415Z,1751053226.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308766 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:26.595Z,1751053226.595 [DAT](INFO): DAT read: Rx Time:19:40:24.8242

2025-06-27T19:40:26.596Z,1751053226.596 [DAT](INFO): Rx dataTimestamp_ set to:1751053226.595524
2025-06-27T19:40:26.596Z,1751053226.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504750
2025-06-27T19:40:26.851Z,1751053226.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759333
2025-06-27T19:40:26.877Z,1751053226.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:26.879Z,1751053226.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:26.882Z,1751053226.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 270.955963 m,
      bearing: 248.735732 deg,
      approach rate: -0.799861 m/s,
      LOS rate: 0.001493 deg/s,
      cmd heading: 246.874100 deg,
      new cmd heading: 246.876199 deg.

2025-06-27T19:40:26.885Z,1751053226.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308803 target range: 285.586121 and range: 288.20 m.
2025-06-27T19:40:27.103Z,1751053227.103 [DAT](INFO): DAT read: Range 10 to 50 : 300.2 m  (Round-trip  400.3 ms) speed  0.7 m/s

2025-06-27T19:40:27.104Z,1751053227.104 [DAT](INFO): DAT read: user:2651>

2025-06-27T19:40:27.105Z,1751053227.105 [DAT](INFO): DAT read: Tx time:19:40:25.9181

2025-06-27T19:40:27.105Z,1751053227.105 [DAT](INFO): Ping request sent.
2025-06-27T19:40:27.105Z,1751053227.105 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:27.106Z,1751053227.106 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:27.106Z,1751053227.106 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:27.107Z,1751053227.107 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:27.247Z,1751053227.247 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS-276E,-32768,-32768,-3276D,    ,        +7.78,        +0.10,  20.00,499.42
2025-06-27T19:40:27.291Z,1751053227.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.200012 m,
      deltaT: 4.033984 s,
      deltaX: 12.000000 m,
      approachRate: 2.974727 m/s,
      rangeRepo size: 4

2025-06-27T19:40:27.295Z,1751053227.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:27.297Z,1751053227.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 270.648651 m,
      bearing: 248.736311 deg,
      approach rate: -0.755718 m/s,
      LOS rate: 0.001426 deg/s,
      cmd heading: 246.876204 deg,
      new cmd heading: 246.877944 deg.

2025-06-27T19:40:27.298Z,1751053227.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308833 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:27.352Z,1751053227.352 [DAT](INFO): DAT read: TxSync time:19:40:25.9173

2025-06-27T19:40:27.683Z,1751053227.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:27.685Z,1751053227.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 270.352966 m,
      bearing: 248.736890 deg,
      approach rate: -0.753205 m/s,
      LOS rate: 0.001477 deg/s,
      cmd heading: 246.877953 deg,
      new cmd heading: 246.879692 deg.

2025-06-27T19:40:27.687Z,1751053227.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308864 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:28.111Z,1751053228.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:28.113Z,1751053228.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 270.023560 m,
      bearing: 248.737014 deg,
      approach rate: -0.762630 m/s,
      LOS rate: 0.000287 deg/s,
      cmd heading: 246.879701 deg,
      new cmd heading: 246.880073 deg.

2025-06-27T19:40:28.114Z,1751053228.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308870 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:28.449Z,1751053228.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:28.453Z,1751053228.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 269.773224 m,
      bearing: 248.737083 deg,
      approach rate: -0.739612 m/s,
      LOS rate: 0.000204 deg/s,
      cmd heading: 246.880084 deg,
      new cmd heading: 246.880290 deg.

2025-06-27T19:40:28.453Z,1751053228.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308874 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:28.850Z,1751053228.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:28.852Z,1751053228.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 269.477875 m,
      bearing: 248.737055 deg,
      approach rate: -0.737039 m/s,
      LOS rate: -0.000070 deg/s,
      cmd heading: 246.880302 deg,
      new cmd heading: 246.880217 deg.

2025-06-27T19:40:28.853Z,1751053228.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308873 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:29.271Z,1751053229.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:29.273Z,1751053229.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:29.276Z,1751053229.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 269.176758 m,
      bearing: 248.735500 deg,
      approach rate: -0.710636 m/s,
      LOS rate: -0.003673 deg/s,
      cmd heading: 246.880220 deg,
      new cmd heading: 246.875551 deg.

2025-06-27T19:40:29.277Z,1751053229.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308791 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:29.367Z,1751053229.367 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:29.367Z,1751053229.367 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:29.368Z,1751053229.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:29.619Z,1751053229.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514007
2025-06-27T19:40:29.674Z,1751053229.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:29.677Z,1751053229.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 268.891083 m,
      bearing: 248.733971 deg,
      approach rate: -0.712903 m/s,
      LOS rate: -0.003819 deg/s,
      cmd heading: 246.875548 deg,
      new cmd heading: 246.870957 deg.

2025-06-27T19:40:29.678Z,1751053229.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308711 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:29.872Z,1751053229.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766528
2025-06-27T19:40:30.100Z,1751053230.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:30.107Z,1751053230.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 268.606506 m,
      bearing: 248.731871 deg,
      approach rate: -0.667641 m/s,
      LOS rate: -0.004933 deg/s,
      cmd heading: 246.870958 deg,
      new cmd heading: 246.864650 deg.

2025-06-27T19:40:30.108Z,1751053230.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308601 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:30.123Z,1751053230.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017979
2025-06-27T19:40:30.375Z,1751053230.375 [DAT](INFO): DAT read: Rx Time:19:40:28.7188

2025-06-27T19:40:30.376Z,1751053230.376 [DAT](INFO): Rx dataTimestamp_ set to:1751053230.375587
2025-06-27T19:40:30.376Z,1751053230.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271032
2025-06-27T19:40:30.462Z,1751053230.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.59 m.
2025-06-27T19:40:30.464Z,1751053230.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.586121 m,
      nav range: 268.334076 m,
      bearing: 248.729820 deg,
      approach rate: -0.754032 m/s,
      LOS rate: -0.005682 deg/s,
      cmd heading: 246.864647 deg,
      new cmd heading: 246.858488 deg.

2025-06-27T19:40:30.465Z,1751053230.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308494 target range: 285.586121 and range: 300.20 m.
2025-06-27T19:40:30.627Z,1751053230.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522086
2025-06-27T19:40:30.885Z,1751053230.885 [DAT](INFO): DAT read: 19:40:28.7188 LVL= 28496, 27841, 30194, 32755, AGC= 66, IDX= 407,-0.03,-0.958,-2.285,-1.030,-1.724, PHS= 0.854,-0.514, 0.691, RAW= 143.7, -15.7, CAL= 150.0, -23.9, ROT= 360.0,  23.9

2025-06-27T19:40:30.887Z,1751053230.887 [DAT](INFO): got valid direction response:
 19:40:28.7188 LVL= 28496, 27841, 30194, 32755, AGC= 66, IDX= 407,-0.03,-0.958,-2.285,-1.030,-1.724, PHS= 0.854,-0.514, 0.691, RAW= 143.7, -15.7, CAL= 150.0, -23.9, ROT= 360.0,  23.9

2025-06-27T19:40:30.888Z,1751053230.888 [DAT](INFO): DAT read: Bearing 360.0,  23.9 (Local)

2025-06-27T19:40:30.888Z,1751053230.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  23.9 (Local)

2025-06-27T19:40:30.890Z,1751053230.890 [DAT](INFO): DAT read: Range 10 to 50 : 297.3 m  (Round-trip  396.4 ms) speed  0.5 m/s

2025-06-27T19:40:30.890Z,1751053230.890 [DAT](INFO): DAT read: user:2652>

2025-06-27T19:40:30.891Z,1751053230.891 [DAT](INFO): DAT read: Tx time:19:40:29.8182

2025-06-27T19:40:30.891Z,1751053230.891 [DAT](INFO): Ping request sent.
2025-06-27T19:40:30.892Z,1751053230.892 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:30.892Z,1751053230.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:30.893Z,1751053230.893 [DAT](INFO): direction in FSK: [0.914254,0.000000,-0.405142]
2025-06-27T19:40:30.893Z,1751053230.893 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:30.893Z,1751053230.893 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:30.909Z,1751053230.909 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:30.910Z,1751053230.910 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:31.037Z,1751053231.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.299988 m,
      deltaT: 3.778154 s,
      deltaX: -2.900024 m,
      approachRate: -0.767577 m/s,
      rangeRepo size: 4

2025-06-27T19:40:31.048Z,1751053231.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.602356 m,
      bearing: 249.026449 deg,
      lat: 36.906514 deg,
      lon: -122.116385 deg,
      deltaT: 7.812138 s,
      deltaX: 9.016235 m,
      approachRate: 1.154132 m/s,
      posRepo size: 4

2025-06-27T19:40:31.049Z,1751053231.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:31.060Z,1751053231.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 267.915680 m,
      bearing: 248.768536 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005682 deg/s,
      cmd heading: 246.858500 deg,
      new cmd heading: 246.848708 deg.

2025-06-27T19:40:31.061Z,1751053231.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308323 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:31.132Z,1751053231.132 [DAT](INFO): DAT read: TxSync time:19:40:29.8174

2025-06-27T19:40:31.374Z,1751053231.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:31.376Z,1751053231.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:31.383Z,1751053231.383 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:31.383Z,1751053231.383 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:31.384Z,1751053231.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:31.403Z,1751053231.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 267.610687 m,
      bearing: 248.765191 deg,
      approach rate: -0.896386 m/s,
      LOS rate: -0.009844 deg/s,
      cmd heading: 246.848719 deg,
      new cmd heading: 246.838671 deg.

2025-06-27T19:40:31.404Z,1751053231.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308147 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:31.636Z,1751053231.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744018
2025-06-27T19:40:31.755Z,1751053231.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:31.758Z,1751053231.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 267.341614 m,
      bearing: 248.762290 deg,
      approach rate: -0.710358 m/s,
      LOS rate: -0.007665 deg/s,
      cmd heading: 246.838665 deg,
      new cmd heading: 246.829955 deg.

2025-06-27T19:40:31.759Z,1751053231.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307995 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:31.888Z,1751053231.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996530
2025-06-27T19:40:32.139Z,1751053232.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247801
2025-06-27T19:40:32.191Z,1751053232.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:32.194Z,1751053232.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 267.033844 m,
      bearing: 248.760515 deg,
      approach rate: -0.705620 m/s,
      LOS rate: -0.004074 deg/s,
      cmd heading: 246.829950 deg,
      new cmd heading: 246.824619 deg.

2025-06-27T19:40:32.201Z,1751053232.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307902 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:32.391Z,1751053232.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499659
2025-06-27T19:40:32.563Z,1751053232.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:32.566Z,1751053232.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 266.771057 m,
      bearing: 248.759010 deg,
      approach rate: -0.705912 m/s,
      LOS rate: -0.004049 deg/s,
      cmd heading: 246.824622 deg,
      new cmd heading: 246.820101 deg.

2025-06-27T19:40:32.567Z,1751053232.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307824 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:32.643Z,1751053232.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751871
2025-06-27T19:40:32.895Z,1751053232.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003757
2025-06-27T19:40:32.968Z,1751053232.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:32.971Z,1751053232.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 266.485443 m,
      bearing: 248.757397 deg,
      approach rate: -0.705753 m/s,
      LOS rate: -0.003989 deg/s,
      cmd heading: 246.820114 deg,
      new cmd heading: 246.815272 deg.

2025-06-27T19:40:32.972Z,1751053232.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307739 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:33.148Z,1751053233.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256443
2025-06-27T19:40:33.399Z,1751053233.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507850
2025-06-27T19:40:33.531Z,1751053233.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:33.533Z,1751053233.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:33.552Z,1751053233.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 266.081085 m,
      bearing: 248.754723 deg,
      approach rate: -0.715318 m/s,
      LOS rate: -0.004739 deg/s,
      cmd heading: 246.815279 deg,
      new cmd heading: 246.807243 deg.

2025-06-27T19:40:33.553Z,1751053233.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307599 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:33.656Z,1751053233.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764489
2025-06-27T19:40:33.907Z,1751053233.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015578
2025-06-27T19:40:33.922Z,1751053233.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:33.929Z,1751053233.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 265.828339 m,
      bearing: 248.753085 deg,
      approach rate: -0.650669 m/s,
      LOS rate: -0.004220 deg/s,
      cmd heading: 246.807246 deg,
      new cmd heading: 246.802328 deg.

2025-06-27T19:40:33.935Z,1751053233.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307513 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:34.160Z,1751053234.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268628
2025-06-27T19:40:34.373Z,1751053234.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:34.379Z,1751053234.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 265.488464 m,
      bearing: 248.752409 deg,
      approach rate: -0.754282 m/s,
      LOS rate: -0.001501 deg/s,
      cmd heading: 246.802329 deg,
      new cmd heading: 246.800300 deg.

2025-06-27T19:40:34.380Z,1751053234.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307478 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:34.412Z,1751053234.412 [DAT](INFO): DAT read: Rx Time:19:40:32.6159

2025-06-27T19:40:34.412Z,1751053234.412 [DAT](INFO): Rx dataTimestamp_ set to:1751053234.411784
2025-06-27T19:40:34.413Z,1751053234.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520998
2025-06-27T19:40:34.663Z,1751053234.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771623
2025-06-27T19:40:34.736Z,1751053234.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:34.739Z,1751053234.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 265.218994 m,
      bearing: 248.751848 deg,
      approach rate: -0.740500 m/s,
      LOS rate: -0.001545 deg/s,
      cmd heading: 246.800307 deg,
      new cmd heading: 246.798620 deg.

2025-06-27T19:40:34.745Z,1751053234.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307448 target range: 294.602356 and range: 297.30 m.
2025-06-27T19:40:34.916Z,1751053234.916 [DAT](INFO): DAT read: Range 10 to 50 : 295.1 m  (Round-trip  393.5 ms) speed  0.4 m/s

2025-06-27T19:40:34.917Z,1751053234.917 [DAT](INFO): DAT read: user:2653>

2025-06-27T19:40:34.918Z,1751053234.918 [DAT](INFO): DAT read: Tx time:19:40:33.7182

2025-06-27T19:40:34.918Z,1751053234.918 [DAT](INFO): Ping request sent.
2025-06-27T19:40:34.919Z,1751053234.919 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:34.919Z,1751053234.919 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:34.919Z,1751053234.919 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:34.920Z,1751053234.920 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:35.168Z,1751053235.168 [DAT](INFO): DAT read: TxSync time:19:40:33.7174

2025-06-27T19:40:35.169Z,1751053235.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.100006 m,
      deltaT: 4.035830 s,
      deltaX: -2.199982 m,
      approachRate: -0.545113 m/s,
      rangeRepo size: 4

2025-06-27T19:40:35.170Z,1751053235.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:35.173Z,1751053235.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 264.913483 m,
      bearing: 248.751533 deg,
      approach rate: -0.711082 m/s,
      LOS rate: -0.000733 deg/s,
      cmd heading: 246.798613 deg,
      new cmd heading: 246.797669 deg.

2025-06-27T19:40:35.173Z,1751053235.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307432 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:35.538Z,1751053235.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:35.540Z,1751053235.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:35.543Z,1751053235.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 264.651062 m,
      bearing: 248.751277 deg,
      approach rate: -0.701253 m/s,
      LOS rate: -0.000686 deg/s,
      cmd heading: 246.797657 deg,
      new cmd heading: 246.796887 deg.

2025-06-27T19:40:35.544Z,1751053235.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307418 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:35.671Z,1751053235.671 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:35.671Z,1751053235.671 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:35.671Z,1751053235.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:35.924Z,1751053235.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004915
2025-06-27T19:40:35.959Z,1751053235.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:35.961Z,1751053235.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 264.363892 m,
      bearing: 248.751091 deg,
      approach rate: -0.721153 m/s,
      LOS rate: -0.000468 deg/s,
      cmd heading: 246.796892 deg,
      new cmd heading: 246.796333 deg.

2025-06-27T19:40:35.967Z,1751053235.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307409 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:36.175Z,1751053236.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256693
2025-06-27T19:40:36.380Z,1751053236.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:36.387Z,1751053236.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 264.058441 m,
      bearing: 248.750913 deg,
      approach rate: -0.691272 m/s,
      LOS rate: -0.000403 deg/s,
      cmd heading: 246.796345 deg,
      new cmd heading: 246.795811 deg.

2025-06-27T19:40:36.389Z,1751053236.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307399 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:36.435Z,1751053236.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516527
2025-06-27T19:40:36.679Z,1751053236.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760793
2025-06-27T19:40:36.752Z,1751053236.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:36.755Z,1751053236.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 263.774384 m,
      bearing: 248.750621 deg,
      approach rate: -0.763524 m/s,
      LOS rate: -0.000787 deg/s,
      cmd heading: 246.795799 deg,
      new cmd heading: 246.794921 deg.

2025-06-27T19:40:36.756Z,1751053236.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307384 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:36.931Z,1751053236.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012807
2025-06-27T19:40:37.183Z,1751053237.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264818
2025-06-27T19:40:37.186Z,1751053237.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:37.188Z,1751053237.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 263.463531 m,
      bearing: 248.751524 deg,
      approach rate: -0.717587 m/s,
      LOS rate: 0.002088 deg/s,
      cmd heading: 246.794925 deg,
      new cmd heading: 246.797638 deg.

2025-06-27T19:40:37.189Z,1751053237.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307431 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:37.438Z,1751053237.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519512
2025-06-27T19:40:37.563Z,1751053237.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:37.565Z,1751053237.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:37.569Z,1751053237.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 263.189453 m,
      bearing: 248.752288 deg,
      approach rate: -0.722306 m/s,
      LOS rate: 0.002015 deg/s,
      cmd heading: 246.797630 deg,
      new cmd heading: 246.799923 deg.

2025-06-27T19:40:37.570Z,1751053237.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307471 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:37.691Z,1751053237.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772656
2025-06-27T19:40:37.943Z,1751053237.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024741
2025-06-27T19:40:37.975Z,1751053237.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:37.977Z,1751053237.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 262.894348 m,
      bearing: 248.753112 deg,
      approach rate: -0.720804 m/s,
      LOS rate: 0.002015 deg/s,
      cmd heading: 246.799924 deg,
      new cmd heading: 246.802399 deg.

2025-06-27T19:40:37.995Z,1751053237.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307515 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:38.195Z,1751053238.195 [DAT](INFO): DAT read: Rx Time:19:40:36.5126

2025-06-27T19:40:38.196Z,1751053238.196 [DAT](INFO): Rx dataTimestamp_ set to:1751053238.195593
2025-06-27T19:40:38.196Z,1751053238.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277827
2025-06-27T19:40:38.381Z,1751053238.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.60 m.
2025-06-27T19:40:38.384Z,1751053238.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.602356 m,
      nav range: 262.597260 m,
      bearing: 248.751999 deg,
      approach rate: -0.731358 m/s,
      LOS rate: -0.002742 deg/s,
      cmd heading: 246.802411 deg,
      new cmd heading: 246.799069 deg.

2025-06-27T19:40:38.384Z,1751053238.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307456 target range: 294.602356 and range: 295.10 m.
2025-06-27T19:40:38.447Z,1751053238.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528841
2025-06-27T19:40:38.706Z,1751053238.706 [DAT](INFO): DAT read: 19:40:36.5126 LVL= 23648, 24449, 24914, 30675, AGC= 62, IDX= 407, 0.31, 0.732,-0.661, 0.630,-0.041, PHS= 0.861,-0.573, 0.668, RAW= 142.9, -14.1, CAL= 149.5, -22.7, ROT=   0.5,  22.7

2025-06-27T19:40:38.707Z,1751053238.707 [DAT](INFO): got valid direction response:
 19:40:36.5126 LVL= 23648, 24449, 24914, 30675, AGC= 62, IDX= 407, 0.31, 0.732,-0.661, 0.630,-0.041, PHS= 0.861,-0.573, 0.668, RAW= 142.9, -14.1, CAL= 149.5, -22.7, ROT=   0.5,  22.7

2025-06-27T19:40:38.708Z,1751053238.708 [DAT](INFO): DAT read: Bearing   0.5,  22.7 (Local)

2025-06-27T19:40:38.708Z,1751053238.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  22.7 (Local)

2025-06-27T19:40:38.710Z,1751053238.710 [DAT](INFO): DAT read: Range 10 to 50 : 292.6 m  (Round-trip  390.2 ms) speed  0.5 m/s

2025-06-27T19:40:38.711Z,1751053238.711 [DAT](INFO): DAT read: user:2654>

2025-06-27T19:40:38.712Z,1751053238.712 [DAT](INFO): DAT read: Tx time:19:40:37.6183

2025-06-27T19:40:38.713Z,1751053238.713 [DAT](INFO): Ping request sent.
2025-06-27T19:40:38.713Z,1751053238.713 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:38.713Z,1751053238.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:38.714Z,1751053238.714 [DAT](INFO): direction in FSK: [0.922503,0.008051,-0.385906]
2025-06-27T19:40:38.715Z,1751053238.715 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:38.715Z,1751053238.715 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:38.718Z,1751053238.718 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:38.719Z,1751053238.719 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:38.952Z,1751053238.952 [DAT](INFO): DAT read: TxSync time:19:40:37.6175

2025-06-27T19:40:39.039Z,1751053239.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.600006 m,
      deltaT: 3.783951 s,
      deltaX: -2.500000 m,
      approachRate: -0.660685 m/s,
      rangeRepo size: 4

2025-06-27T19:40:39.042Z,1751053239.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 289.945160 m,
      bearing: 249.336043 deg,
      lat: 36.906516 deg,
      lon: -122.116385 deg,
      deltaT: 7.819781 s,
      deltaX: -4.657196 m,
      approachRate: -0.595566 m/s,
      posRepo size: 4

2025-06-27T19:40:39.046Z,1751053239.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:39.049Z,1751053239.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 262.061127 m,
      bearing: 248.794432 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002742 deg/s,
      cmd heading: 246.799078 deg,
      new cmd heading: 246.793698 deg.

2025-06-27T19:40:39.050Z,1751053239.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307363 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:39.369Z,1751053239.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:39.376Z,1751053239.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 261.796295 m,
      bearing: 248.793540 deg,
      approach rate: -0.792403 m/s,
      LOS rate: -0.002670 deg/s,
      cmd heading: 246.793695 deg,
      new cmd heading: 246.791018 deg.

2025-06-27T19:40:39.377Z,1751053239.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307316 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:39.713Z,1751053239.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:39.716Z,1751053239.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:39.719Z,1751053239.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 261.532471 m,
      bearing: 248.792685 deg,
      approach rate: -0.760764 m/s,
      LOS rate: -0.002467 deg/s,
      cmd heading: 246.791018 deg,
      new cmd heading: 246.788451 deg.

2025-06-27T19:40:39.719Z,1751053239.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307271 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:39.959Z,1751053239.959 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:39.959Z,1751053239.959 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:39.959Z,1751053239.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:40.168Z,1751053240.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:40.175Z,1751053240.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 261.196167 m,
      bearing: 248.791616 deg,
      approach rate: -0.742783 m/s,
      LOS rate: -0.002366 deg/s,
      cmd heading: 246.788450 deg,
      new cmd heading: 246.785236 deg.

2025-06-27T19:40:40.176Z,1751053240.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307215 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:40.212Z,1751053240.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498859
2025-06-27T19:40:40.463Z,1751053240.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750648
2025-06-27T19:40:40.529Z,1751053240.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:40.532Z,1751053240.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 260.925659 m,
      bearing: 248.791344 deg,
      approach rate: -0.750616 m/s,
      LOS rate: -0.000753 deg/s,
      cmd heading: 246.785226 deg,
      new cmd heading: 246.784411 deg.

2025-06-27T19:40:40.533Z,1751053240.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307200 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:40.715Z,1751053240.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002655
2025-06-27T19:40:40.904Z,1751053240.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:40.910Z,1751053240.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 260.649689 m,
      bearing: 248.791118 deg,
      approach rate: -0.736337 m/s,
      LOS rate: -0.000605 deg/s,
      cmd heading: 246.784406 deg,
      new cmd heading: 246.783726 deg.

2025-06-27T19:40:40.912Z,1751053240.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307189 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:40.968Z,1751053240.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255322
2025-06-27T19:40:41.219Z,1751053241.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506691
2025-06-27T19:40:41.341Z,1751053241.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:41.348Z,1751053241.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 260.332428 m,
      bearing: 248.789734 deg,
      approach rate: -0.724652 m/s,
      LOS rate: -0.003165 deg/s,
      cmd heading: 246.783723 deg,
      new cmd heading: 246.779566 deg.

2025-06-27T19:40:41.349Z,1751053241.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307116 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:41.471Z,1751053241.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758725
2025-06-27T19:40:41.708Z,1751053241.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:41.711Z,1751053241.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 260.040405 m,
      bearing: 248.788463 deg,
      approach rate: -0.795498 m/s,
      LOS rate: -0.003465 deg/s,
      cmd heading: 246.779570 deg,
      new cmd heading: 246.775754 deg.

2025-06-27T19:40:41.712Z,1751053241.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307049 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:41.723Z,1751053241.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010752
2025-06-27T19:40:41.976Z,1751053241.976 [DAT](INFO): DAT read: Rx Time:19:40:40.3899

2025-06-27T19:40:41.977Z,1751053241.977 [DAT](INFO): Rx dataTimestamp_ set to:1751053241.976407
2025-06-27T19:40:41.977Z,1751053241.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264563
2025-06-27T19:40:42.187Z,1751053242.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:42.189Z,1751053242.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:42.196Z,1751053242.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 259.704254 m,
      bearing: 248.786941 deg,
      approach rate: -0.699496 m/s,
      LOS rate: -0.003171 deg/s,
      cmd heading: 246.775746 deg,
      new cmd heading: 246.771174 deg.

2025-06-27T19:40:42.197Z,1751053242.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306970 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:42.228Z,1751053242.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514865
2025-06-27T19:40:42.483Z,1751053242.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769871
2025-06-27T19:40:42.609Z,1751053242.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.95 m.
2025-06-27T19:40:42.612Z,1751053242.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.945160 m,
      nav range: 259.365814 m,
      bearing: 248.784971 deg,
      approach rate: -0.806428 m/s,
      LOS rate: -0.004701 deg/s,
      cmd heading: 246.771183 deg,
      new cmd heading: 246.765264 deg.

2025-06-27T19:40:42.613Z,1751053242.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306866 target range: 289.945160 and range: 292.60 m.
2025-06-27T19:40:42.738Z,1751053242.738 [DAT](INFO): DAT read: 19:40:40.3899 LVL= 28800, 32753, 26898, 32755, AGC= 68, IDX= 200,-0.33, 0.512,-0.833, 0.403,-0.210, PHS= 0.810,-0.576, 0.610, RAW= 142.3, -13.0, CAL= 149.0, -21.9, ROT=   1.0,  21.9

2025-06-27T19:40:42.739Z,1751053242.739 [DAT](INFO): got valid direction response:
 19:40:40.3899 LVL= 28800, 32753, 26898, 32755, AGC= 68, IDX= 200,-0.33, 0.512,-0.833, 0.403,-0.210, PHS= 0.810,-0.576, 0.610, RAW= 142.3, -13.0, CAL= 149.0, -21.9, ROT=   1.0,  21.9

2025-06-27T19:40:42.740Z,1751053242.740 [DAT](INFO): DAT read: Bearing   1.0,  21.9 (Local)

2025-06-27T19:40:42.740Z,1751053242.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  21.9 (Local)

2025-06-27T19:40:42.742Z,1751053242.742 [DAT](INFO): DAT read: Range 10 to 50 : 275.5 m  (Round-trip  367.4 ms) speed  0.6 m/s

2025-06-27T19:40:42.743Z,1751053242.743 [DAT](INFO): DAT read: user:2655>

2025-06-27T19:40:42.744Z,1751053242.744 [DAT](INFO): DAT read: Tx time:19:40:41.4683

2025-06-27T19:40:42.744Z,1751053242.744 [DAT](INFO): Ping request sent.
2025-06-27T19:40:42.744Z,1751053242.744 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:42.745Z,1751053242.745 [DAT](INFO): DAT read: TxSync time:19:40:41.4675

2025-06-27T19:40:42.745Z,1751053242.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:42.747Z,1751053242.747 [DAT](INFO): direction in FSK: [0.927695,0.016193,-0.372988]
2025-06-27T19:40:42.747Z,1751053242.747 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:42.747Z,1751053242.747 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:42.750Z,1751053242.750 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:42.750Z,1751053242.750 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:42.951Z,1751053242.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 275.500000 m,
      deltaT: 4.031978 s,
      deltaX: -17.100006 m,
      approachRate: -4.241096 m/s,
      rangeRepo size: 4

2025-06-27T19:40:42.953Z,1751053242.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.000305 m,
      bearing: 249.598732 deg,
      lat: 36.906516 deg,
      lon: -122.116385 deg,
      deltaT: 4.031978 s,
      deltaX: -16.944855 m,
      approachRate: -4.202616 m/s,
      posRepo size: 4

2025-06-27T19:40:42.954Z,1751053242.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:42.957Z,1751053242.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 259.114319 m,
      bearing: 248.783491 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004701 deg/s,
      cmd heading: 246.765254 deg,
      new cmd heading: 246.760439 deg.

2025-06-27T19:40:42.958Z,1751053242.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306782 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:43.377Z,1751053243.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:43.384Z,1751053243.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 258.795532 m,
      bearing: 248.781614 deg,
      approach rate: -0.747765 m/s,
      LOS rate: -0.004408 deg/s,
      cmd heading: 246.760446 deg,
      new cmd heading: 246.754808 deg.

2025-06-27T19:40:43.385Z,1751053243.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306684 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:43.752Z,1751053243.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:43.755Z,1751053243.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 258.516907 m,
      bearing: 248.779926 deg,
      approach rate: -0.741337 m/s,
      LOS rate: -0.004497 deg/s,
      cmd heading: 246.754818 deg,
      new cmd heading: 246.749747 deg.

2025-06-27T19:40:43.756Z,1751053243.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306595 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:44.220Z,1751053244.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:44.222Z,1751053244.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:44.229Z,1751053244.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 258.208282 m,
      bearing: 248.777957 deg,
      approach rate: -0.657424 m/s,
      LOS rate: -0.004198 deg/s,
      cmd heading: 246.749736 deg,
      new cmd heading: 246.743824 deg.

2025-06-27T19:40:44.230Z,1751053244.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306492 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:44.243Z,1751053244.243 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:44.243Z,1751053244.243 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:44.244Z,1751053244.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:44.495Z,1751053244.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750893
2025-06-27T19:40:44.584Z,1751053244.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:44.587Z,1751053244.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 257.906769 m,
      bearing: 248.776457 deg,
      approach rate: -0.832757 m/s,
      LOS rate: -0.004149 deg/s,
      cmd heading: 246.743835 deg,
      new cmd heading: 246.739329 deg.

2025-06-27T19:40:44.588Z,1751053244.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306414 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:44.747Z,1751053244.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002877
2025-06-27T19:40:44.959Z,1751053244.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:44.962Z,1751053244.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 257.634552 m,
      bearing: 248.775054 deg,
      approach rate: -0.727207 m/s,
      LOS rate: -0.003753 deg/s,
      cmd heading: 246.739327 deg,
      new cmd heading: 246.735112 deg.

2025-06-27T19:40:44.963Z,1751053244.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306340 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:45.002Z,1751053245.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257254
2025-06-27T19:40:45.251Z,1751053245.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506876
2025-06-27T19:40:45.383Z,1751053245.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:45.385Z,1751053245.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 257.325745 m,
      bearing: 248.773998 deg,
      approach rate: -0.727520 m/s,
      LOS rate: -0.002491 deg/s,
      cmd heading: 246.735120 deg,
      new cmd heading: 246.731948 deg.

2025-06-27T19:40:45.387Z,1751053245.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306285 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:45.504Z,1751053245.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760013
2025-06-27T19:40:45.755Z,1751053245.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011032
2025-06-27T19:40:45.784Z,1751053245.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:45.794Z,1751053245.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 257.044495 m,
      bearing: 248.773038 deg,
      approach rate: -0.700790 m/s,
      LOS rate: -0.002393 deg/s,
      cmd heading: 246.731950 deg,
      new cmd heading: 246.729070 deg.

2025-06-27T19:40:45.799Z,1751053245.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306235 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:46.008Z,1751053246.008 [DAT](INFO): DAT read: Rx Time:19:40:44.2355

2025-06-27T19:40:46.009Z,1751053246.009 [DAT](INFO): Rx dataTimestamp_ set to:1751053246.008038
2025-06-27T19:40:46.009Z,1751053246.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264686
2025-06-27T19:40:46.248Z,1751053246.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:46.250Z,1751053246.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.00 m.
2025-06-27T19:40:46.257Z,1751053246.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.000305 m,
      nav range: 256.725586 m,
      bearing: 248.771948 deg,
      approach rate: -0.684267 m/s,
      LOS rate: -0.002342 deg/s,
      cmd heading: 246.729082 deg,
      new cmd heading: 246.725808 deg.

2025-06-27T19:40:46.258Z,1751053246.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306178 target range: 273.000305 and range: 275.50 m.
2025-06-27T19:40:46.259Z,1751053246.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515020
2025-06-27T19:40:46.519Z,1751053246.519 [DAT](INFO): DAT read: 19:40:44.2355 LVL= 30880, 32753, 32146, 32755, AGC= 67, IDX= 405,-0.08,-1.499,-2.805,-1.619,-2.266, PHS= 0.854,-0.492, 0.644, RAW= 141.6, -15.8, CAL= 147.8, -24.3, ROT=   2.2,  24.3

2025-06-27T19:40:46.520Z,1751053246.520 [DAT](INFO): got valid direction response:
 19:40:44.2355 LVL= 30880, 32753, 32146, 32755, AGC= 67, IDX= 405,-0.08,-1.499,-2.805,-1.619,-2.266, PHS= 0.854,-0.492, 0.644, RAW= 141.6, -15.8, CAL= 147.8, -24.3, ROT=   2.2,  24.3

2025-06-27T19:40:46.521Z,1751053246.521 [DAT](INFO): DAT read: Bearing   2.2,  24.3 (Local)

2025-06-27T19:40:46.522Z,1751053246.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  24.3 (Local)

2025-06-27T19:40:46.553Z,1751053246.553 [DAT](INFO): DAT read: Range 10 to 50 : 272.2 m  (Round-trip  363.0 ms) speed  0.9 m/s

2025-06-27T19:40:46.555Z,1751053246.555 [DAT](INFO): DAT read: user:2656>

2025-06-27T19:40:46.556Z,1751053246.556 [DAT](INFO): DAT read: Tx time:19:40:45.3183

2025-06-27T19:40:46.556Z,1751053246.556 [DAT](INFO): Ping request sent.
2025-06-27T19:40:46.557Z,1751053246.557 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:46.558Z,1751053246.558 [DAT](INFO): DAT read: TxSync time:19:40:45.3175

2025-06-27T19:40:46.591Z,1751053246.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:46.592Z,1751053246.592 [DAT](INFO): direction in FSK: [0.910731,0.034987,-0.411514]
2025-06-27T19:40:46.592Z,1751053246.592 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:46.592Z,1751053246.592 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:46.608Z,1751053246.608 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:46.608Z,1751053246.608 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:46.727Z,1751053246.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.200012 m,
      deltaT: 3.781276 s,
      deltaX: -3.299988 m,
      approachRate: -0.872718 m/s,
      rangeRepo size: 4

2025-06-27T19:40:46.729Z,1751053246.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.729187 m,
      bearing: 251.124973 deg,
      lat: 36.906562 deg,
      lon: -122.116385 deg,
      deltaT: 3.781276 s,
      deltaX: -3.271118 m,
      approachRate: -0.865083 m/s,
      posRepo size: 4

2025-06-27T19:40:46.729Z,1751053246.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:46.737Z,1751053246.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 254.557663 m,
      bearing: 249.844497 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002342 deg/s,
      cmd heading: 246.725803 deg,
      new cmd heading: 246.722490 deg.

2025-06-27T19:40:46.738Z,1751053246.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306120 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:47.044Z,1751053247.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:47.047Z,1751053247.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 254.314163 m,
      bearing: 249.844627 deg,
      approach rate: -0.755879 m/s,
      LOS rate: 0.000404 deg/s,
      cmd heading: 246.722497 deg,
      new cmd heading: 246.722888 deg.

2025-06-27T19:40:47.048Z,1751053247.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306127 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:47.470Z,1751053247.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:47.473Z,1751053247.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 254.009033 m,
      bearing: 249.845029 deg,
      approach rate: -0.716522 m/s,
      LOS rate: 0.000944 deg/s,
      cmd heading: 246.722880 deg,
      new cmd heading: 246.724086 deg.

2025-06-27T19:40:47.473Z,1751053247.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306148 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:47.528Z,1751053247.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:40:47.843Z,1751053247.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:47.845Z,1751053247.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 253.741013 m,
      bearing: 249.845349 deg,
      approach rate: -0.718828 m/s,
      LOS rate: 0.000861 deg/s,
      cmd heading: 246.724082 deg,
      new cmd heading: 246.725045 deg.

2025-06-27T19:40:47.847Z,1751053247.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306164 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:48.320Z,1751053248.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:48.322Z,1751053248.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:48.325Z,1751053248.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 253.405746 m,
      bearing: 249.846392 deg,
      approach rate: -0.699646 m/s,
      LOS rate: 0.002179 deg/s,
      cmd heading: 246.725038 deg,
      new cmd heading: 246.728171 deg.

2025-06-27T19:40:48.325Z,1751053248.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306219 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:48.527Z,1751053248.527 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:48.527Z,1751053248.527 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:48.528Z,1751053248.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:48.531Z,1751053248.531 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:40:48.648Z,1751053248.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:48.651Z,1751053248.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 253.154144 m,
      bearing: 249.847109 deg,
      approach rate: -0.770842 m/s,
      LOS rate: 0.002198 deg/s,
      cmd heading: 246.728180 deg,
      new cmd heading: 246.730333 deg.

2025-06-27T19:40:48.652Z,1751053248.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306257 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:48.779Z,1751053248.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222906
2025-06-27T19:40:49.031Z,1751053249.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474990
2025-06-27T19:40:49.070Z,1751053249.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:49.077Z,1751053249.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 252.858444 m,
      bearing: 249.847949 deg,
      approach rate: -0.700879 m/s,
      LOS rate: 0.001994 deg/s,
      cmd heading: 246.730338 deg,
      new cmd heading: 246.732863 deg.

2025-06-27T19:40:49.078Z,1751053249.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306301 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:49.287Z,1751053249.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729551
2025-06-27T19:40:49.468Z,1751053249.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:49.471Z,1751053249.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 252.552643 m,
      bearing: 249.849306 deg,
      approach rate: -0.768650 m/s,
      LOS rate: 0.003414 deg/s,
      cmd heading: 246.732852 deg,
      new cmd heading: 246.736927 deg.

2025-06-27T19:40:49.472Z,1751053249.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306372 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:49.537Z,1751053249.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980443
2025-06-27T19:40:49.787Z,1751053249.787 [DAT](INFO): DAT read: Rx Time:19:40:48.1028

2025-06-27T19:40:49.788Z,1751053249.788 [DAT](INFO): Rx dataTimestamp_ set to:1751053249.787582
2025-06-27T19:40:49.788Z,1751053249.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231986
2025-06-27T19:40:49.869Z,1751053249.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:49.872Z,1751053249.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 252.256668 m,
      bearing: 249.850633 deg,
      approach rate: -0.737992 m/s,
      LOS rate: 0.003314 deg/s,
      cmd heading: 246.736923 deg,
      new cmd heading: 246.740910 deg.

2025-06-27T19:40:49.873Z,1751053249.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306441 target range: 269.729187 and range: 272.20 m.
2025-06-27T19:40:50.040Z,1751053250.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483237
2025-06-27T19:40:50.297Z,1751053250.297 [DAT](INFO): DAT read: Range 10 to 50 : 285.1 m  (Round-trip  380.2 ms) speed  0.4 m/s

2025-06-27T19:40:50.300Z,1751053250.300 [DAT](INFO): DAT read: user:2657>

2025-06-27T19:40:50.302Z,1751053250.302 [DAT](INFO): DAT read: Tx time:19:40:49.2184

2025-06-27T19:40:50.302Z,1751053250.302 [DAT](INFO): Ping request sent.
2025-06-27T19:40:50.302Z,1751053250.302 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:50.303Z,1751053250.303 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:50.303Z,1751053250.303 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:50.303Z,1751053250.303 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:50.323Z,1751053250.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:50.326Z,1751053250.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.100006 m,
      deltaT: 3.780553 s,
      deltaX: 12.899994 m,
      approachRate: 3.412198 m/s,
      rangeRepo size: 4

2025-06-27T19:40:50.331Z,1751053250.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:50.333Z,1751053250.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 251.924286 m,
      bearing: 249.852186 deg,
      approach rate: -0.728634 m/s,
      LOS rate: 0.003409 deg/s,
      cmd heading: 246.740912 deg,
      new cmd heading: 246.745577 deg.

2025-06-27T19:40:50.339Z,1751053250.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306523 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:50.544Z,1751053250.544 [DAT](INFO): DAT read: TxSync time:19:40:49.2176

2025-06-27T19:40:50.545Z,1751053250.545 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:50.545Z,1751053250.545 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:50.546Z,1751053250.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:50.696Z,1751053250.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:50.699Z,1751053250.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 251.645294 m,
      bearing: 249.853042 deg,
      approach rate: -0.753038 m/s,
      LOS rate: 0.002312 deg/s,
      cmd heading: 246.745583 deg,
      new cmd heading: 246.748153 deg.

2025-06-27T19:40:50.700Z,1751053250.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306568 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:50.796Z,1751053250.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493478
2025-06-27T19:40:51.047Z,1751053251.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744899
2025-06-27T19:40:51.206Z,1751053251.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:51.209Z,1751053251.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 251.266754 m,
      bearing: 249.854497 deg,
      approach rate: -0.741827 m/s,
      LOS rate: 0.002855 deg/s,
      cmd heading: 246.748152 deg,
      new cmd heading: 246.752523 deg.

2025-06-27T19:40:51.210Z,1751053251.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306644 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:51.303Z,1751053251.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000499
2025-06-27T19:40:51.551Z,1751053251.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249009
2025-06-27T19:40:51.613Z,1751053251.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:51.619Z,1751053251.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 250.972290 m,
      bearing: 249.855185 deg,
      approach rate: -0.724061 m/s,
      LOS rate: 0.001694 deg/s,
      cmd heading: 246.752523 deg,
      new cmd heading: 246.754589 deg.

2025-06-27T19:40:51.620Z,1751053251.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306680 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:51.803Z,1751053251.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500916
2025-06-27T19:40:52.011Z,1751053252.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:52.017Z,1751053252.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 250.682053 m,
      bearing: 249.855862 deg,
      approach rate: -0.729900 m/s,
      LOS rate: 0.001706 deg/s,
      cmd heading: 246.754599 deg,
      new cmd heading: 246.756634 deg.

2025-06-27T19:40:52.019Z,1751053252.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306715 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:52.055Z,1751053252.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753026
2025-06-27T19:40:52.309Z,1751053252.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006637
2025-06-27T19:40:52.427Z,1751053252.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:52.429Z,1751053252.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:52.432Z,1751053252.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 250.383667 m,
      bearing: 249.855100 deg,
      approach rate: -0.712467 m/s,
      LOS rate: -0.001823 deg/s,
      cmd heading: 246.756621 deg,
      new cmd heading: 246.754330 deg.

2025-06-27T19:40:52.433Z,1751053252.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306675 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:52.559Z,1751053252.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257023
2025-06-27T19:40:52.768Z,1751053252.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:52.771Z,1751053252.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 250.125763 m,
      bearing: 249.854439 deg,
      approach rate: -0.761442 m/s,
      LOS rate: -0.001953 deg/s,
      cmd heading: 246.754326 deg,
      new cmd heading: 246.752342 deg.

2025-06-27T19:40:52.772Z,1751053252.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306641 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:52.812Z,1751053252.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509256
2025-06-27T19:40:53.063Z,1751053253.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760887
2025-06-27T19:40:53.156Z,1751053253.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:53.159Z,1751053253.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 249.842209 m,
      bearing: 249.853702 deg,
      approach rate: -0.729330 m/s,
      LOS rate: -0.001897 deg/s,
      cmd heading: 246.752332 deg,
      new cmd heading: 246.750119 deg.

2025-06-27T19:40:53.160Z,1751053253.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306602 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:53.319Z,1751053253.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015684
2025-06-27T19:40:53.567Z,1751053253.567 [DAT](INFO): DAT read: Rx Time:19:40:51.9988

2025-06-27T19:40:53.568Z,1751053253.568 [DAT](INFO): Rx dataTimestamp_ set to:1751053253.567663
2025-06-27T19:40:53.568Z,1751053253.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266103
2025-06-27T19:40:53.624Z,1751053253.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:53.630Z,1751053253.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 249.514481 m,
      bearing: 249.852974 deg,
      approach rate: -0.701641 m/s,
      LOS rate: -0.001562 deg/s,
      cmd heading: 246.750119 deg,
      new cmd heading: 246.747929 deg.

2025-06-27T19:40:53.631Z,1751053253.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306564 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:53.819Z,1751053253.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516889
2025-06-27T19:40:53.965Z,1751053253.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:53.968Z,1751053253.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 249.251831 m,
      bearing: 249.852401 deg,
      approach rate: -0.769619 m/s,
      LOS rate: -0.001680 deg/s,
      cmd heading: 246.747933 deg,
      new cmd heading: 246.746213 deg.

2025-06-27T19:40:53.969Z,1751053253.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306534 target range: 269.729187 and range: 285.10 m.
2025-06-27T19:40:54.071Z,1751053254.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769094
2025-06-27T19:40:54.328Z,1751053254.328 [DAT](INFO): DAT read: Range 10 to 50 : 282.1 m  (Round-trip  376.2 ms) speed  0.5 m/s

2025-06-27T19:40:54.331Z,1751053254.331 [DAT](INFO): DAT read: user:2658>

2025-06-27T19:40:54.333Z,1751053254.333 [DAT](INFO): DAT read: Tx time:19:40:53.1184

2025-06-27T19:40:54.334Z,1751053254.334 [DAT](INFO): Ping request sent.
2025-06-27T19:40:54.347Z,1751053254.347 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:54.349Z,1751053254.349 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:40:54.349Z,1751053254.349 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:54.351Z,1751053254.351 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:54.483Z,1751053254.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:54.485Z,1751053254.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.100006 m,
      deltaT: 4.031315 s,
      deltaX: -3.000000 m,
      approachRate: -0.744174 m/s,
      rangeRepo size: 4

2025-06-27T19:40:54.486Z,1751053254.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:54.489Z,1751053254.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 248.875549 m,
      bearing: 249.851738 deg,
      approach rate: -0.723677 m/s,
      LOS rate: -0.001277 deg/s,
      cmd heading: 246.746212 deg,
      new cmd heading: 246.744220 deg.

2025-06-27T19:40:54.490Z,1751053254.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306499 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:54.577Z,1751053254.577 [DAT](INFO): DAT read: TxSync time:19:40:53.1176

2025-06-27T19:40:54.577Z,1751053254.577 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:54.578Z,1751053254.578 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:54.578Z,1751053254.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:54.800Z,1751053254.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:54.803Z,1751053254.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 248.640305 m,
      bearing: 249.851379 deg,
      approach rate: -0.746539 m/s,
      LOS rate: -0.001138 deg/s,
      cmd heading: 246.744217 deg,
      new cmd heading: 246.743142 deg.

2025-06-27T19:40:54.804Z,1751053254.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306480 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:54.827Z,1751053254.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493351
2025-06-27T19:40:55.079Z,1751053255.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745350
2025-06-27T19:40:55.218Z,1751053255.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:55.221Z,1751053255.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 248.342682 m,
      bearing: 249.851092 deg,
      approach rate: -0.711606 m/s,
      LOS rate: -0.000689 deg/s,
      cmd heading: 246.743152 deg,
      new cmd heading: 246.742288 deg.

2025-06-27T19:40:55.222Z,1751053255.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306465 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:55.334Z,1751053255.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999432
2025-06-27T19:40:55.585Z,1751053255.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250535
2025-06-27T19:40:55.674Z,1751053255.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:55.677Z,1751053255.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 248.022507 m,
      bearing: 249.850284 deg,
      approach rate: -0.707621 m/s,
      LOS rate: -0.001788 deg/s,
      cmd heading: 246.742278 deg,
      new cmd heading: 246.739851 deg.

2025-06-27T19:40:55.678Z,1751053255.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306423 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:55.835Z,1751053255.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501312
2025-06-27T19:40:56.061Z,1751053256.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:56.072Z,1751053256.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 247.727844 m,
      bearing: 249.849507 deg,
      approach rate: -0.755562 m/s,
      LOS rate: -0.001995 deg/s,
      cmd heading: 246.739846 deg,
      new cmd heading: 246.737512 deg.

2025-06-27T19:40:56.073Z,1751053256.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306382 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:56.088Z,1751053256.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753787
2025-06-27T19:40:56.342Z,1751053256.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007913
2025-06-27T19:40:56.467Z,1751053256.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:56.470Z,1751053256.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 247.433533 m,
      bearing: 249.848826 deg,
      approach rate: -0.754730 m/s,
      LOS rate: -0.001749 deg/s,
      cmd heading: 246.737524 deg,
      new cmd heading: 246.735477 deg.

2025-06-27T19:40:56.475Z,1751053256.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306346 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:56.591Z,1751053256.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257319
2025-06-27T19:40:56.826Z,1751053256.826 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:56.828Z,1751053256.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:56.831Z,1751053256.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 247.156326 m,
      bearing: 249.848173 deg,
      approach rate: -0.733461 m/s,
      LOS rate: -0.001728 deg/s,
      cmd heading: 246.735475 deg,
      new cmd heading: 246.733516 deg.

2025-06-27T19:40:56.832Z,1751053256.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306312 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:56.845Z,1751053256.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509841
2025-06-27T19:40:57.095Z,1751053257.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761543
2025-06-27T19:40:57.231Z,1751053257.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:57.233Z,1751053257.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 246.862106 m,
      bearing: 249.847485 deg,
      approach rate: -0.731921 m/s,
      LOS rate: -0.001715 deg/s,
      cmd heading: 246.733508 deg,
      new cmd heading: 246.731439 deg.

2025-06-27T19:40:57.234Z,1751053257.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306276 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:57.348Z,1751053257.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013763
2025-06-27T19:40:57.600Z,1751053257.600 [DAT](INFO): DAT read: Rx Time:19:40:55.8954

2025-06-27T19:40:57.600Z,1751053257.600 [DAT](INFO): Rx dataTimestamp_ set to:1751053257.599827
2025-06-27T19:40:57.601Z,1751053257.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266727
2025-06-27T19:40:57.702Z,1751053257.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.73 m.
2025-06-27T19:40:57.709Z,1751053257.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.729187 m,
      nav range: 246.521133 m,
      bearing: 249.847366 deg,
      approach rate: -0.723423 m/s,
      LOS rate: -0.000253 deg/s,
      cmd heading: 246.731431 deg,
      new cmd heading: 246.731074 deg.

2025-06-27T19:40:57.710Z,1751053257.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306270 target range: 269.729187 and range: 282.10 m.
2025-06-27T19:40:57.852Z,1751053257.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517767
2025-06-27T19:40:58.110Z,1751053258.110 [DAT](INFO): DAT read: 19:40:55.8955 LVL= 26576, 32753, 28898, 32755, AGC= 67, IDX= 405, 0.36, 0.993,-0.318, 0.893, 0.264, PHS= 0.817,-0.535, 0.626, RAW= 142.5, -14.2, CAL= 149.0, -22.9, ROT=   1.0,  22.9

2025-06-27T19:40:58.111Z,1751053258.111 [DAT](INFO): got valid direction response:
 19:40:55.8955 LVL= 26576, 32753, 28898, 32755, AGC= 67, IDX= 405, 0.36, 0.993,-0.318, 0.893, 0.264, PHS= 0.817,-0.535, 0.626, RAW= 142.5, -14.2, CAL= 149.0, -22.9, ROT=   1.0,  22.9

2025-06-27T19:40:58.112Z,1751053258.112 [DAT](INFO): DAT read: Bearing   1.0,  22.9 (Local)

2025-06-27T19:40:58.112Z,1751053258.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  22.9 (Local)

2025-06-27T19:40:58.114Z,1751053258.114 [DAT](INFO): DAT read: Range 10 to 50 : 279.6 m  (Round-trip  372.8 ms) speed  0.3 m/s

2025-06-27T19:40:58.115Z,1751053258.115 [DAT](INFO): DAT read: user:2659>

2025-06-27T19:40:58.116Z,1751053258.116 [DAT](INFO): DAT read: Tx time:19:40:57.0185

2025-06-27T19:40:58.116Z,1751053258.116 [DAT](INFO): Ping request sent.
2025-06-27T19:40:58.116Z,1751053258.116 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:40:58.116Z,1751053258.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:40:58.117Z,1751053258.117 [DAT](INFO): direction in FSK: [0.921045,0.016077,-0.389124]
2025-06-27T19:40:58.117Z,1751053258.117 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:58.118Z,1751053258.118 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:58.121Z,1751053258.121 [DAT](INFO): publishing transmit ping time
2025-06-27T19:40:58.121Z,1751053258.121 [DAT](INFO): publishing direction and range info
2025-06-27T19:40:58.132Z,1751053258.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.600006 m,
      deltaT: 3.778958 s,
      deltaX: -2.500000 m,
      approachRate: -0.661558 m/s,
      rangeRepo size: 4

2025-06-27T19:40:58.180Z,1751053258.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 277.060913 m,
      bearing: 249.601951 deg,
      lat: 36.906523 deg,
      lon: -122.116423 deg,
      deltaT: 11.590826 s,
      deltaX: 7.331726 m,
      approachRate: 0.632546 m/s,
      posRepo size: 4

2025-06-27T19:40:58.180Z,1751053258.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:40:58.183Z,1751053258.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 250.892960 m,
      bearing: 249.190538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000253 deg/s,
      cmd heading: 246.731076 deg,
      new cmd heading: 246.730750 deg.

2025-06-27T19:40:58.184Z,1751053258.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306264 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:40:58.359Z,1751053258.359 [DAT](INFO): DAT read: TxSync time:19:40:57.0177

2025-06-27T19:40:58.587Z,1751053258.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:40:58.589Z,1751053258.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 250.554398 m,
      bearing: 249.189604 deg,
      approach rate: -0.749668 m/s,
      LOS rate: -0.002071 deg/s,
      cmd heading: 246.730748 deg,
      new cmd heading: 246.727943 deg.

2025-06-27T19:40:58.591Z,1751053258.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306215 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:40:58.881Z,1751053258.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:40:58.884Z,1751053258.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:40:58.907Z,1751053258.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 250.327408 m,
      bearing: 249.189041 deg,
      approach rate: -0.755115 m/s,
      LOS rate: -0.001875 deg/s,
      cmd heading: 246.727934 deg,
      new cmd heading: 246.726244 deg.

2025-06-27T19:40:58.908Z,1751053258.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306185 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:40:59.111Z,1751053259.111 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:40:59.111Z,1751053259.111 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:40:59.112Z,1751053259.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:40:59.282Z,1751053259.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:40:59.284Z,1751053259.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 250.038330 m,
      bearing: 249.188334 deg,
      approach rate: -0.726766 m/s,
      LOS rate: -0.001780 deg/s,
      cmd heading: 246.726240 deg,
      new cmd heading: 246.724116 deg.

2025-06-27T19:40:59.285Z,1751053259.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306148 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:40:59.368Z,1751053259.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251058
2025-06-27T19:40:59.615Z,1751053259.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499357
2025-06-27T19:40:59.710Z,1751053259.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:40:59.713Z,1751053259.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 249.725998 m,
      bearing: 249.187375 deg,
      approach rate: -0.729036 m/s,
      LOS rate: -0.002239 deg/s,
      cmd heading: 246.724109 deg,
      new cmd heading: 246.721231 deg.

2025-06-27T19:40:59.714Z,1751053259.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306098 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:40:59.867Z,1751053259.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751288
2025-06-27T19:41:00.155Z,1751053260.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.039297
2025-06-27T19:41:00.186Z,1751053260.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:00.193Z,1751053260.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 249.385345 m,
      bearing: 249.186291 deg,
      approach rate: -0.715861 m/s,
      LOS rate: -0.002283 deg/s,
      cmd heading: 246.721241 deg,
      new cmd heading: 246.717982 deg.

2025-06-27T19:41:00.194Z,1751053260.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306041 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:41:00.371Z,1751053260.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255272
2025-06-27T19:41:00.538Z,1751053260.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:00.543Z,1751053260.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 249.137070 m,
      bearing: 249.185998 deg,
      approach rate: -0.705447 m/s,
      LOS rate: -0.000831 deg/s,
      cmd heading: 246.717990 deg,
      new cmd heading: 246.717112 deg.

2025-06-27T19:41:00.544Z,1751053260.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306026 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:41:00.623Z,1751053260.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507393
2025-06-27T19:41:00.875Z,1751053260.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759423
2025-06-27T19:41:00.913Z,1751053260.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:00.916Z,1751053260.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:00.918Z,1751053260.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 248.848160 m,
      bearing: 249.185646 deg,
      approach rate: -0.764745 m/s,
      LOS rate: -0.000935 deg/s,
      cmd heading: 246.717115 deg,
      new cmd heading: 246.716055 deg.

2025-06-27T19:41:00.919Z,1751053260.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306007 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:41:01.128Z,1751053261.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011539
2025-06-27T19:41:01.330Z,1751053261.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:01.333Z,1751053261.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 248.555954 m,
      bearing: 249.185310 deg,
      approach rate: -0.711859 m/s,
      LOS rate: -0.000819 deg/s,
      cmd heading: 246.716050 deg,
      new cmd heading: 246.715041 deg.

2025-06-27T19:41:01.334Z,1751053261.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305990 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:41:01.380Z,1751053261.380 [DAT](INFO): DAT read: Rx Time:19:40:59.7923

2025-06-27T19:41:01.380Z,1751053261.380 [DAT](INFO): Rx dataTimestamp_ set to:1751053261.379738
2025-06-27T19:41:01.381Z,1751053261.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264578
2025-06-27T19:41:01.631Z,1751053261.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515291
2025-06-27T19:41:01.731Z,1751053261.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:01.733Z,1751053261.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 248.250076 m,
      bearing: 249.184896 deg,
      approach rate: -0.756440 m/s,
      LOS rate: -0.001024 deg/s,
      cmd heading: 246.715039 deg,
      new cmd heading: 246.713797 deg.

2025-06-27T19:41:01.751Z,1751053261.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305968 target range: 277.060913 and range: 279.60 m.
2025-06-27T19:41:01.886Z,1751053261.886 [DAT](INFO): DAT read: Range 10 to 50 : 277.3 m  (Round-trip  369.8 ms) speed  0.8 m/s

2025-06-27T19:41:01.887Z,1751053261.887 [DAT](INFO): DAT read: user:2660>

2025-06-27T19:41:01.888Z,1751053261.888 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:01.888Z,1751053261.888 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:01.888Z,1751053261.888 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:01.889Z,1751053261.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:02.125Z,1751053262.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 277.299988 m,
      deltaT: 3.781858 s,
      deltaX: -2.300018 m,
      approachRate: -0.608172 m/s,
      rangeRepo size: 4

2025-06-27T19:41:02.126Z,1751053262.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:02.129Z,1751053262.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 247.959351 m,
      bearing: 249.184502 deg,
      approach rate: -0.737188 m/s,
      LOS rate: -0.001000 deg/s,
      cmd heading: 246.713809 deg,
      new cmd heading: 246.712626 deg.

2025-06-27T19:41:02.130Z,1751053262.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305948 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:02.136Z,1751053262.136 [DAT](INFO): DAT read: Tx time:19:41:00.8685

2025-06-27T19:41:02.136Z,1751053262.136 [DAT](INFO): Ping request sent.
2025-06-27T19:41:02.136Z,1751053262.136 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:02.137Z,1751053262.137 [DAT](INFO): DAT read: TxSync time:19:41:00.8677

2025-06-27T19:41:02.137Z,1751053262.137 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:02.138Z,1751053262.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001595
2025-06-27T19:41:02.387Z,1751053262.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251292
2025-06-27T19:41:02.540Z,1751053262.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:02.543Z,1751053262.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 247.655075 m,
      bearing: 249.183835 deg,
      approach rate: -0.732338 m/s,
      LOS rate: -0.001608 deg/s,
      cmd heading: 246.712635 deg,
      new cmd heading: 246.710631 deg.

2025-06-27T19:41:02.544Z,1751053262.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305913 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:02.644Z,1751053262.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508070
2025-06-27T19:41:02.895Z,1751053262.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759182
2025-06-27T19:41:03.052Z,1751053263.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:03.054Z,1751053263.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:03.057Z,1751053263.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 247.278702 m,
      bearing: 249.182997 deg,
      approach rate: -0.732794 m/s,
      LOS rate: -0.001634 deg/s,
      cmd heading: 246.710640 deg,
      new cmd heading: 246.708123 deg.

2025-06-27T19:41:03.058Z,1751053263.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305869 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:03.148Z,1751053263.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011939
2025-06-27T19:41:03.352Z,1751053263.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:03.354Z,1751053263.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 247.060226 m,
      bearing: 249.182491 deg,
      approach rate: -0.734087 m/s,
      LOS rate: -0.001704 deg/s,
      cmd heading: 246.708127 deg,
      new cmd heading: 246.706605 deg.

2025-06-27T19:41:03.355Z,1751053263.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305842 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:03.399Z,1751053263.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263416
2025-06-27T19:41:03.651Z,1751053263.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515267
2025-06-27T19:41:03.797Z,1751053263.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:03.804Z,1751053263.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 246.749283 m,
      bearing: 249.183196 deg,
      approach rate: -0.698243 m/s,
      LOS rate: 0.001585 deg/s,
      cmd heading: 246.706597 deg,
      new cmd heading: 246.708714 deg.

2025-06-27T19:41:03.805Z,1751053263.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305880 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:03.905Z,1751053263.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768594
2025-06-27T19:41:04.155Z,1751053264.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019324
2025-06-27T19:41:04.188Z,1751053264.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:04.191Z,1751053264.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 246.448563 m,
      bearing: 249.183873 deg,
      approach rate: -0.768056 m/s,
      LOS rate: 0.001732 deg/s,
      cmd heading: 246.708728 deg,
      new cmd heading: 246.710763 deg.

2025-06-27T19:41:04.192Z,1751053264.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305915 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:04.408Z,1751053264.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271697
2025-06-27T19:41:04.567Z,1751053264.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:04.570Z,1751053264.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 246.171951 m,
      bearing: 249.185138 deg,
      approach rate: -0.729816 m/s,
      LOS rate: 0.003342 deg/s,
      cmd heading: 246.710750 deg,
      new cmd heading: 246.714549 deg.

2025-06-27T19:41:04.572Z,1751053264.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305981 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:04.660Z,1751053264.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524200
2025-06-27T19:41:04.911Z,1751053264.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775335
2025-06-27T19:41:04.961Z,1751053264.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:04.968Z,1751053264.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 245.894226 m,
      bearing: 249.186472 deg,
      approach rate: -0.705960 m/s,
      LOS rate: 0.003395 deg/s,
      cmd heading: 246.714547 deg,
      new cmd heading: 246.718554 deg.

2025-06-27T19:41:04.969Z,1751053264.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306051 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:05.163Z,1751053265.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027273
2025-06-27T19:41:05.403Z,1751053265.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:05.406Z,1751053265.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:05.412Z,1751053265.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 245.567291 m,
      bearing: 249.188068 deg,
      approach rate: -0.735106 m/s,
      LOS rate: 0.003593 deg/s,
      cmd heading: 246.718563 deg,
      new cmd heading: 246.723357 deg.

2025-06-27T19:41:05.413Z,1751053265.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306135 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:05.424Z,1751053265.424 [DAT](INFO): DAT read: Rx Time:19:41:03.6387

2025-06-27T19:41:05.424Z,1751053265.424 [DAT](INFO): Rx dataTimestamp_ set to:1751053265.423917
2025-06-27T19:41:05.425Z,1751053265.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288724
2025-06-27T19:41:05.678Z,1751053265.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542030
2025-06-27T19:41:05.811Z,1751053265.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:05.814Z,1751053265.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 245.266037 m,
      bearing: 249.189841 deg,
      approach rate: -0.742560 m/s,
      LOS rate: 0.004374 deg/s,
      cmd heading: 246.723344 deg,
      new cmd heading: 246.728668 deg.

2025-06-27T19:41:05.815Z,1751053265.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306228 target range: 277.060913 and range: 277.30 m.
2025-06-27T19:41:05.929Z,1751053265.929 [DAT](INFO): DAT read: Range 10 to 50 : 274.5 m  (Round-trip  366.1 ms) speed  0.4 m/s

2025-06-27T19:41:05.930Z,1751053265.930 [DAT](INFO): DAT read: user:2661>

2025-06-27T19:41:05.931Z,1751053265.931 [DAT](INFO): DAT read: Tx time:19:41:04.7185

2025-06-27T19:41:05.931Z,1751053265.931 [DAT](INFO): Ping request sent.
2025-06-27T19:41:05.931Z,1751053265.931 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:05.932Z,1751053265.932 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:05.932Z,1751053265.932 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:05.933Z,1751053265.933 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:06.179Z,1751053266.179 [DAT](INFO): DAT read: TxSync time:19:41:04.7177

2025-06-27T19:41:06.204Z,1751053266.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 274.500000 m,
      deltaT: 4.043132 s,
      deltaX: -2.799988 m,
      approachRate: -0.692529 m/s,
      rangeRepo size: 4

2025-06-27T19:41:06.205Z,1751053266.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:06.207Z,1751053266.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 244.981461 m,
      bearing: 249.191519 deg,
      approach rate: -0.727172 m/s,
      LOS rate: 0.004293 deg/s,
      cmd heading: 246.728672 deg,
      new cmd heading: 246.733713 deg.

2025-06-27T19:41:06.208Z,1751053266.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306315 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:06.621Z,1751053266.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:06.624Z,1751053266.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 244.673706 m,
      bearing: 249.192181 deg,
      approach rate: -0.735061 m/s,
      LOS rate: 0.001584 deg/s,
      cmd heading: 246.733699 deg,
      new cmd heading: 246.735689 deg.

2025-06-27T19:41:06.625Z,1751053266.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306350 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:07.042Z,1751053267.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:07.045Z,1751053267.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 244.381470 m,
      bearing: 249.192782 deg,
      approach rate: -0.701064 m/s,
      LOS rate: 0.001443 deg/s,
      cmd heading: 246.735693 deg,
      new cmd heading: 246.737498 deg.

2025-06-27T19:41:07.046Z,1751053267.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306382 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:07.395Z,1751053267.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:07.398Z,1751053267.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 244.104492 m,
      bearing: 249.193329 deg,
      approach rate: -0.775526 m/s,
      LOS rate: 0.001534 deg/s,
      cmd heading: 246.737497 deg,
      new cmd heading: 246.739140 deg.

2025-06-27T19:41:07.400Z,1751053267.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306410 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:07.831Z,1751053267.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:07.833Z,1751053267.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:07.836Z,1751053267.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 243.784760 m,
      bearing: 249.194793 deg,
      approach rate: -0.730625 m/s,
      LOS rate: 0.003348 deg/s,
      cmd heading: 246.739136 deg,
      new cmd heading: 246.743532 deg.

2025-06-27T19:41:07.837Z,1751053267.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306487 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:07.943Z,1751053267.943 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:07.943Z,1751053267.943 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:07.944Z,1751053267.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:08.195Z,1751053268.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263880
2025-06-27T19:41:08.207Z,1751053268.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:08.210Z,1751053268.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 243.511948 m,
      bearing: 249.196050 deg,
      approach rate: -0.730363 m/s,
      LOS rate: 0.003369 deg/s,
      cmd heading: 246.743534 deg,
      new cmd heading: 246.747309 deg.

2025-06-27T19:41:08.211Z,1751053268.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306553 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:08.447Z,1751053268.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515734
2025-06-27T19:41:08.646Z,1751053268.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:08.649Z,1751053268.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 243.188004 m,
      bearing: 249.195846 deg,
      approach rate: -0.737062 m/s,
      LOS rate: -0.000463 deg/s,
      cmd heading: 246.747305 deg,
      new cmd heading: 246.746694 deg.

2025-06-27T19:41:08.650Z,1751053268.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306542 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:08.700Z,1751053268.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768687
2025-06-27T19:41:08.951Z,1751053268.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019796
2025-06-27T19:41:09.035Z,1751053269.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:09.038Z,1751053269.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 242.902466 m,
      bearing: 249.195714 deg,
      approach rate: -0.734614 m/s,
      LOS rate: -0.000340 deg/s,
      cmd heading: 246.746704 deg,
      new cmd heading: 246.746307 deg.

2025-06-27T19:41:09.039Z,1751053269.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306535 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:09.204Z,1751053269.204 [DAT](INFO): DAT read: Rx Time:19:41:07.4851

2025-06-27T19:41:09.204Z,1751053269.204 [DAT](INFO): Rx dataTimestamp_ set to:1751053269.203825
2025-06-27T19:41:09.205Z,1751053269.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273131
2025-06-27T19:41:09.424Z,1751053269.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.06 m.
2025-06-27T19:41:09.427Z,1751053269.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.060913 m,
      nav range: 242.615753 m,
      bearing: 249.195581 deg,
      approach rate: -0.736222 m/s,
      LOS rate: -0.000344 deg/s,
      cmd heading: 246.746294 deg,
      new cmd heading: 246.745892 deg.

2025-06-27T19:41:09.428Z,1751053269.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306528 target range: 277.060913 and range: 274.50 m.
2025-06-27T19:41:09.469Z,1751053269.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536982
2025-06-27T19:41:09.725Z,1751053269.725 [DAT](INFO): DAT read: 19:41:07.4851 LVL= 26720, 32753, 26690, 32755, AGC= 68, IDX= 411, 0.08,-1.347,-2.695,-1.462,-2.189, PHS= 0.930,-0.459, 0.724, RAW= 142.1, -18.0, CAL= 147.9, -25.9, ROT=   2.1,  25.9

2025-06-27T19:41:09.726Z,1751053269.726 [DAT](INFO): got valid direction response:
 19:41:07.4851 LVL= 26720, 32753, 26690, 32755, AGC= 68, IDX= 411, 0.08,-1.347,-2.695,-1.462,-2.189, PHS= 0.930,-0.459, 0.724, RAW= 142.1, -18.0, CAL= 147.9, -25.9, ROT=   2.1,  25.9

2025-06-27T19:41:09.727Z,1751053269.727 [DAT](INFO): DAT read: Bearing   2.1,  25.9 (Local)

2025-06-27T19:41:09.728Z,1751053269.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,  25.9 (Local)

2025-06-27T19:41:09.729Z,1751053269.729 [DAT](INFO): DAT read: Range 10 to 50 : 271.8 m  (Round-trip  362.5 ms) speed  0.1 m/s

2025-06-27T19:41:09.730Z,1751053269.730 [DAT](INFO): DAT read: user:2662>

2025-06-27T19:41:09.736Z,1751053269.736 [DAT](INFO): DAT read: Tx time:19:41:08.5685

2025-06-27T19:41:09.736Z,1751053269.736 [DAT](INFO): Ping request sent.
2025-06-27T19:41:09.736Z,1751053269.736 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:09.737Z,1751053269.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:09.738Z,1751053269.738 [DAT](INFO): direction in FSK: [0.898954,0.032963,-0.436802]
2025-06-27T19:41:09.738Z,1751053269.738 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:09.738Z,1751053269.738 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:09.741Z,1751053269.741 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:09.741Z,1751053269.741 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:09.917Z,1751053269.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 271.799988 m,
      deltaT: 3.790899 s,
      deltaX: -2.700012 m,
      approachRate: -0.712235 m/s,
      rangeRepo size: 4

2025-06-27T19:41:09.924Z,1751053269.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 269.331329 m,
      bearing: 250.818873 deg,
      lat: 36.906562 deg,
      lon: -122.116458 deg,
      deltaT: 11.615889 s,
      deltaX: -7.729584 m,
      approachRate: -0.665432 m/s,
      posRepo size: 4

2025-06-27T19:41:09.924Z,1751053269.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:09.931Z,1751053269.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 243.708145 m,
      bearing: 250.402395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000344 deg/s,
      cmd heading: 246.745884 deg,
      new cmd heading: 246.745376 deg.

2025-06-27T19:41:09.932Z,1751053269.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306519 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:09.972Z,1751053269.972 [DAT](INFO): DAT read: TxSync time:19:41:08.5677

2025-06-27T19:41:10.232Z,1751053270.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:10.237Z,1751053270.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:10.241Z,1751053270.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 243.461044 m,
      bearing: 250.403453 deg,
      approach rate: -0.773847 m/s,
      LOS rate: 0.003319 deg/s,
      cmd heading: 246.745365 deg,
      new cmd heading: 246.748545 deg.

2025-06-27T19:41:10.243Z,1751053270.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306574 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:10.476Z,1751053270.476 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:10.476Z,1751053270.476 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:10.477Z,1751053270.477 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:10.665Z,1751053270.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:10.684Z,1751053270.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 243.142960 m,
      bearing: 250.404013 deg,
      approach rate: -0.741477 m/s,
      LOS rate: 0.001306 deg/s,
      cmd heading: 246.748534 deg,
      new cmd heading: 246.750214 deg.

2025-06-27T19:41:10.685Z,1751053270.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306604 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:10.728Z,1751053270.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991662
2025-06-27T19:41:10.979Z,1751053270.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243051
2025-06-27T19:41:11.047Z,1751053271.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:11.050Z,1751053271.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 242.857864 m,
      bearing: 250.404512 deg,
      approach rate: -0.745322 m/s,
      LOS rate: 0.001308 deg/s,
      cmd heading: 246.750228 deg,
      new cmd heading: 246.751728 deg.

2025-06-27T19:41:11.051Z,1751053271.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306630 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:11.231Z,1751053271.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494997
2025-06-27T19:41:11.436Z,1751053271.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:11.440Z,1751053271.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 242.572601 m,
      bearing: 250.405092 deg,
      approach rate: -0.734300 m/s,
      LOS rate: 0.001494 deg/s,
      cmd heading: 246.751731 deg,
      new cmd heading: 246.753472 deg.

2025-06-27T19:41:11.441Z,1751053271.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306661 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:11.484Z,1751053271.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747922
2025-06-27T19:41:11.735Z,1751053271.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999026
2025-06-27T19:41:11.875Z,1751053271.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:11.878Z,1751053271.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 242.251160 m,
      bearing: 250.406559 deg,
      approach rate: -0.732122 m/s,
      LOS rate: 0.003345 deg/s,
      cmd heading: 246.753479 deg,
      new cmd heading: 246.757885 deg.

2025-06-27T19:41:11.879Z,1751053271.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306737 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:11.988Z,1751053271.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251658
2025-06-27T19:41:12.243Z,1751053272.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506693
2025-06-27T19:41:12.250Z,1751053272.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:12.252Z,1751053272.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:12.256Z,1751053272.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 241.979843 m,
      bearing: 250.407744 deg,
      approach rate: -0.718776 m/s,
      LOS rate: 0.003142 deg/s,
      cmd heading: 246.757878 deg,
      new cmd heading: 246.761436 deg.

2025-06-27T19:41:12.257Z,1751053272.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306799 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:12.493Z,1751053272.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756057
2025-06-27T19:41:12.701Z,1751053272.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:12.704Z,1751053272.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 241.652954 m,
      bearing: 250.408852 deg,
      approach rate: -0.729492 m/s,
      LOS rate: 0.002477 deg/s,
      cmd heading: 246.761430 deg,
      new cmd heading: 246.764759 deg.

2025-06-27T19:41:12.704Z,1751053272.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306858 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:12.743Z,1751053272.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007104
2025-06-27T19:41:13.000Z,1751053273.000 [DAT](INFO): DAT read: Rx Time:19:41:11.3321

2025-06-27T19:41:13.001Z,1751053273.001 [DAT](INFO): Rx dataTimestamp_ set to:1751053273.000243
2025-06-27T19:41:13.001Z,1751053273.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265073
2025-06-27T19:41:13.092Z,1751053273.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.33 m.
2025-06-27T19:41:13.108Z,1751053273.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 269.331329 m,
      nav range: 241.378372 m,
      bearing: 250.409739 deg,
      approach rate: -0.702054 m/s,
      LOS rate: 0.002270 deg/s,
      cmd heading: 246.764763 deg,
      new cmd heading: 246.767426 deg.

2025-06-27T19:41:13.109Z,1751053273.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306904 target range: 269.331329 and range: 271.80 m.
2025-06-27T19:41:13.251Z,1751053273.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515071
2025-06-27T19:41:13.509Z,1751053273.509 [DAT](INFO): DAT read: 19:41:11.3321 LVL= 25136, 27681, 28322, 32755, AGC= 70, IDX= 412, 0.07, 2.466, 1.085, 2.377, 1.666, PHS= 0.888,-0.534, 0.707, RAW= 143.3, -15.6, CAL= 149.6, -23.9, ROT=   0.4,  23.9

2025-06-27T19:41:13.511Z,1751053273.511 [DAT](INFO): got valid direction response:
 19:41:11.3321 LVL= 25136, 27681, 28322, 32755, AGC= 70, IDX= 412, 0.07, 2.466, 1.085, 2.377, 1.666, PHS= 0.888,-0.534, 0.707, RAW= 143.3, -15.6, CAL= 149.6, -23.9, ROT=   0.4,  23.9

2025-06-27T19:41:13.512Z,1751053273.512 [DAT](INFO): DAT read: Bearing   0.4,  23.9 (Local)

2025-06-27T19:41:13.512Z,1751053273.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  23.9 (Local)

2025-06-27T19:41:13.514Z,1751053273.514 [DAT](INFO): DAT read: Range 10 to 50 : 269.5 m  (Round-trip  359.4 ms) speed  0.4 m/s

2025-06-27T19:41:13.514Z,1751053273.514 [DAT](INFO): DAT read: user:2663>

2025-06-27T19:41:13.515Z,1751053273.515 [DAT](INFO): DAT read: Tx time:19:41:12.4185

2025-06-27T19:41:13.515Z,1751053273.515 [DAT](INFO): Ping request sent.
2025-06-27T19:41:13.516Z,1751053273.516 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:13.516Z,1751053273.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:13.517Z,1751053273.517 [DAT](INFO): direction in FSK: [0.914232,0.006383,-0.405142]
2025-06-27T19:41:13.517Z,1751053273.517 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:13.517Z,1751053273.517 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:13.521Z,1751053273.521 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:13.521Z,1751053273.521 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:13.551Z,1751053273.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.500000 m,
      deltaT: 3.784104 s,
      deltaX: -2.299988 m,
      approachRate: -0.607802 m/s,
      rangeRepo size: 4

2025-06-27T19:41:13.553Z,1751053273.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.052612 m,
      bearing: 249.104233 deg,
      lat: 36.906562 deg,
      lon: -122.116458 deg,
      deltaT: 3.784104 s,
      deltaX: -2.278717 m,
      approachRate: -0.602181 m/s,
      posRepo size: 4

2025-06-27T19:41:13.558Z,1751053273.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:13.561Z,1751053273.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 241.074112 m,
      bearing: 250.410683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002270 deg/s,
      cmd heading: 246.767413 deg,
      new cmd heading: 246.770429 deg.

2025-06-27T19:41:13.566Z,1751053273.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306956 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:13.756Z,1751053273.756 [DAT](INFO): DAT read: TxSync time:19:41:12.4178

2025-06-27T19:41:13.980Z,1751053273.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:13.988Z,1751053273.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 240.736343 m,
      bearing: 250.410735 deg,
      approach rate: -0.757505 m/s,
      LOS rate: 0.000115 deg/s,
      cmd heading: 246.770418 deg,
      new cmd heading: 246.770572 deg.

2025-06-27T19:41:13.990Z,1751053273.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306959 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:14.322Z,1751053274.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:14.324Z,1751053274.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:14.327Z,1751053274.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 240.485687 m,
      bearing: 250.410808 deg,
      approach rate: -0.729092 m/s,
      LOS rate: 0.000214 deg/s,
      cmd heading: 246.770582 deg,
      new cmd heading: 246.770802 deg.

2025-06-27T19:41:14.328Z,1751053274.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306963 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:14.511Z,1751053274.511 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:14.512Z,1751053274.512 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:14.512Z,1751053274.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:14.765Z,1751053274.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248840
2025-06-27T19:41:14.843Z,1751053274.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:14.845Z,1751053274.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 240.136383 m,
      bearing: 250.411136 deg,
      approach rate: -0.673644 m/s,
      LOS rate: 0.000634 deg/s,
      cmd heading: 246.770801 deg,
      new cmd heading: 246.771787 deg.

2025-06-27T19:41:14.855Z,1751053274.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306980 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:15.016Z,1751053275.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500449
2025-06-27T19:41:15.243Z,1751053275.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:15.246Z,1751053275.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 239.841705 m,
      bearing: 250.411414 deg,
      approach rate: -0.735870 m/s,
      LOS rate: 0.000695 deg/s,
      cmd heading: 246.771784 deg,
      new cmd heading: 246.772619 deg.

2025-06-27T19:41:15.247Z,1751053275.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.306995 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:15.267Z,1751053275.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751648
2025-06-27T19:41:15.519Z,1751053275.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003796
2025-06-27T19:41:15.635Z,1751053275.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:15.653Z,1751053275.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 239.578339 m,
      bearing: 250.411677 deg,
      approach rate: -0.682932 m/s,
      LOS rate: 0.000683 deg/s,
      cmd heading: 246.772631 deg,
      new cmd heading: 246.773421 deg.

2025-06-27T19:41:15.661Z,1751053275.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307009 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:15.771Z,1751053275.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255847
2025-06-27T19:41:16.024Z,1751053276.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508278
2025-06-27T19:41:16.037Z,1751053276.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:16.040Z,1751053276.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 239.283386 m,
      bearing: 250.411606 deg,
      approach rate: -0.722806 m/s,
      LOS rate: -0.000176 deg/s,
      cmd heading: 246.773423 deg,
      new cmd heading: 246.773208 deg.

2025-06-27T19:41:16.041Z,1751053276.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307005 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:16.275Z,1751053276.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759921
2025-06-27T19:41:16.389Z,1751053276.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:16.391Z,1751053276.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:16.394Z,1751053276.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 239.033463 m,
      bearing: 250.411543 deg,
      approach rate: -0.705449 m/s,
      LOS rate: -0.000177 deg/s,
      cmd heading: 246.773205 deg,
      new cmd heading: 246.773017 deg.

2025-06-27T19:41:16.395Z,1751053276.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307002 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:16.528Z,1751053276.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012033
2025-06-27T19:41:16.779Z,1751053276.779 [DAT](INFO): DAT read: Rx Time:19:41:15.1791

2025-06-27T19:41:16.780Z,1751053276.780 [DAT](INFO): Rx dataTimestamp_ set to:1751053276.779670
2025-06-27T19:41:16.780Z,1751053276.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264951
2025-06-27T19:41:16.807Z,1751053276.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:16.810Z,1751053276.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 238.732300 m,
      bearing: 250.412528 deg,
      approach rate: -0.724529 m/s,
      LOS rate: 0.002372 deg/s,
      cmd heading: 246.773014 deg,
      new cmd heading: 246.775972 deg.

2025-06-27T19:41:16.811Z,1751053276.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307053 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:17.031Z,1751053277.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515819
2025-06-27T19:41:17.212Z,1751053277.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.05 m.
2025-06-27T19:41:17.215Z,1751053277.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.052612 m,
      nav range: 238.438995 m,
      bearing: 250.413489 deg,
      approach rate: -0.724316 m/s,
      LOS rate: 0.002377 deg/s,
      cmd heading: 246.775964 deg,
      new cmd heading: 246.778852 deg.

2025-06-27T19:41:17.216Z,1751053277.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307104 target range: 267.052612 and range: 269.50 m.
2025-06-27T19:41:17.287Z,1751053277.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770894
2025-06-27T19:41:17.542Z,1751053277.542 [DAT](INFO): DAT read: 19:41:15.1791 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.27, 0.763,-0.495, 0.696,-0.031, PHS= 0.881,-0.417, 0.724, RAW= 143.6, -18.9, CAL= 149.3, -26.5, ROT=   0.7,  26.5

2025-06-27T19:41:17.543Z,1751053277.543 [DAT](INFO): got valid direction response:
 19:41:15.1791 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412, 0.27, 0.763,-0.495, 0.696,-0.031, PHS= 0.881,-0.417, 0.724, RAW= 143.6, -18.9, CAL= 149.3, -26.5, ROT=   0.7,  26.5

2025-06-27T19:41:17.544Z,1751053277.544 [DAT](INFO): DAT read: Bearing   0.7,  26.5 (Local)

2025-06-27T19:41:17.544Z,1751053277.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  26.5 (Local)

2025-06-27T19:41:17.546Z,1751053277.546 [DAT](INFO): DAT read: Range 10 to 50 : 267.2 m  (Round-trip  356.3 ms) speed  0.8 m/s

2025-06-27T19:41:17.547Z,1751053277.547 [DAT](INFO): DAT read: user:2664>

2025-06-27T19:41:17.548Z,1751053277.548 [DAT](INFO): DAT read: Tx time:19:41:16.2686

2025-06-27T19:41:17.548Z,1751053277.548 [DAT](INFO): Ping request sent.
2025-06-27T19:41:17.548Z,1751053277.548 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:17.549Z,1751053277.549 [DAT](INFO): DAT read: TxSync time:19:41:16.2678

2025-06-27T19:41:17.549Z,1751053277.549 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:17.550Z,1751053277.550 [DAT](INFO): direction in FSK: [0.894868,0.010933,-0.446198]
2025-06-27T19:41:17.566Z,1751053277.566 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:17.567Z,1751053277.567 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:17.569Z,1751053277.569 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:17.570Z,1751053277.570 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:17.728Z,1751053277.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.200012 m,
      deltaT: 4.031935 s,
      deltaX: -2.299988 m,
      approachRate: -0.570443 m/s,
      rangeRepo size: 4

2025-06-27T19:41:17.735Z,1751053277.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.773132 m,
      bearing: 249.705647 deg,
      lat: 36.906538 deg,
      lon: -122.116458 deg,
      deltaT: 4.031935 s,
      deltaX: -2.279480 m,
      approachRate: -0.565356 m/s,
      posRepo size: 4

2025-06-27T19:41:17.736Z,1751053277.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:17.738Z,1751053277.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 239.027176 m,
      bearing: 249.824826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002377 deg/s,
      cmd heading: 246.778860 deg,
      new cmd heading: 246.782540 deg.

2025-06-27T19:41:17.743Z,1751053277.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307168 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:18.080Z,1751053278.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:18.082Z,1751053278.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 238.705490 m,
      bearing: 249.825116 deg,
      approach rate: -0.914644 m/s,
      LOS rate: 0.000826 deg/s,
      cmd heading: 246.782548 deg,
      new cmd heading: 246.783420 deg.

2025-06-27T19:41:18.083Z,1751053278.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307183 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:18.441Z,1751053278.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:18.443Z,1751053278.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:18.446Z,1751053278.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 238.438995 m,
      bearing: 249.825391 deg,
      approach rate: -0.732354 m/s,
      LOS rate: 0.000755 deg/s,
      cmd heading: 246.783423 deg,
      new cmd heading: 246.784247 deg.

2025-06-27T19:41:18.447Z,1751053278.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307198 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:18.543Z,1751053278.543 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:18.543Z,1751053278.543 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:18.544Z,1751053278.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:18.664Z,1751053278.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:41:18.795Z,1751053278.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247474
2025-06-27T19:41:18.876Z,1751053278.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:18.879Z,1751053278.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 238.123001 m,
      bearing: 249.827729 deg,
      approach rate: -0.729743 m/s,
      LOS rate: 0.005407 deg/s,
      cmd heading: 246.784242 deg,
      new cmd heading: 246.791266 deg.

2025-06-27T19:41:18.880Z,1751053278.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307320 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:19.047Z,1751053279.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499342
2025-06-27T19:41:19.297Z,1751053279.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:19.299Z,1751053279.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751512
2025-06-27T19:41:19.302Z,1751053279.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 237.830704 m,
      bearing: 249.829897 deg,
      approach rate: -0.720265 m/s,
      LOS rate: 0.005349 deg/s,
      cmd heading: 246.791264 deg,
      new cmd heading: 246.797776 deg.

2025-06-27T19:41:19.303Z,1751053279.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307434 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:19.551Z,1751053279.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003365
2025-06-27T19:41:19.668Z,1751053279.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:41:19.676Z,1751053279.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:19.678Z,1751053279.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 237.544083 m,
      bearing: 249.831935 deg,
      approach rate: -0.728748 m/s,
      LOS rate: 0.005187 deg/s,
      cmd heading: 246.797766 deg,
      new cmd heading: 246.803887 deg.

2025-06-27T19:41:19.679Z,1751053279.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307540 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:19.804Z,1751053279.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256034
2025-06-27T19:41:20.055Z,1751053280.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507475
2025-06-27T19:41:20.107Z,1751053280.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:20.109Z,1751053280.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 237.236053 m,
      bearing: 249.834843 deg,
      approach rate: -0.721343 m/s,
      LOS rate: 0.006819 deg/s,
      cmd heading: 246.803886 deg,
      new cmd heading: 246.812621 deg.

2025-06-27T19:41:20.115Z,1751053280.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307693 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:20.307Z,1751053280.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759350
2025-06-27T19:41:20.463Z,1751053280.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:20.465Z,1751053280.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:20.468Z,1751053280.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 236.945465 m,
      bearing: 249.837540 deg,
      approach rate: -0.802092 m/s,
      LOS rate: 0.007454 deg/s,
      cmd heading: 246.812629 deg,
      new cmd heading: 246.820730 deg.

2025-06-27T19:41:20.469Z,1751053280.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307835 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:20.560Z,1751053280.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011916
2025-06-27T19:41:20.811Z,1751053280.811 [DAT](INFO): DAT read: Rx Time:19:41:19.0258

2025-06-27T19:41:20.812Z,1751053280.812 [DAT](INFO): Rx dataTimestamp_ set to:1751053280.811661
2025-06-27T19:41:20.812Z,1751053280.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264518
2025-06-27T19:41:20.906Z,1751053280.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:20.909Z,1751053280.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 236.613525 m,
      bearing: 249.840252 deg,
      approach rate: -0.752867 m/s,
      LOS rate: 0.006161 deg/s,
      cmd heading: 246.820743 deg,
      new cmd heading: 246.828892 deg.

2025-06-27T19:41:20.910Z,1751053280.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307977 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:21.064Z,1751053281.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515539
2025-06-27T19:41:21.280Z,1751053281.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:21.298Z,1751053281.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 236.331833 m,
      bearing: 249.842544 deg,
      approach rate: -0.753378 m/s,
      LOS rate: 0.006135 deg/s,
      cmd heading: 246.828884 deg,
      new cmd heading: 246.835766 deg.

2025-06-27T19:41:21.300Z,1751053281.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308097 target range: 264.773132 and range: 267.20 m.
2025-06-27T19:41:21.320Z,1751053281.320 [DAT](INFO): DAT read: Range 10 to 50 : 264.8 m  (Round-trip  353.1 ms) speed  0.4 m/s

2025-06-27T19:41:21.322Z,1751053281.322 [DAT](INFO): DAT read: user:2665>

2025-06-27T19:41:21.323Z,1751053281.323 [DAT](INFO): DAT read: Tx time:19:41:20.1186

2025-06-27T19:41:21.323Z,1751053281.323 [DAT](INFO): Ping request sent.
2025-06-27T19:41:21.323Z,1751053281.323 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:21.324Z,1751053281.324 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:21.324Z,1751053281.324 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:21.324Z,1751053281.324 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:21.568Z,1751053281.568 [DAT](INFO): DAT read: TxSync time:19:41:20.1178

2025-06-27T19:41:21.688Z,1751053281.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.799988 m,
      deltaT: 3.780155 s,
      deltaX: -2.400024 m,
      approachRate: -0.634901 m/s,
      rangeRepo size: 4

2025-06-27T19:41:21.688Z,1751053281.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:21.691Z,1751053281.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 236.025238 m,
      bearing: 249.845021 deg,
      approach rate: -0.752626 m/s,
      LOS rate: 0.006090 deg/s,
      cmd heading: 246.835769 deg,
      new cmd heading: 246.843211 deg.

2025-06-27T19:41:21.692Z,1751053281.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308227 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:22.124Z,1751053282.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:22.127Z,1751053282.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 235.693344 m,
      bearing: 249.848279 deg,
      approach rate: -0.759262 m/s,
      LOS rate: 0.007463 deg/s,
      cmd heading: 246.843201 deg,
      new cmd heading: 246.852988 deg.

2025-06-27T19:41:22.128Z,1751053282.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308397 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:22.491Z,1751053282.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:22.493Z,1751053282.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:22.496Z,1751053282.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 235.413544 m,
      bearing: 249.851112 deg,
      approach rate: -0.758836 m/s,
      LOS rate: 0.007691 deg/s,
      cmd heading: 246.852981 deg,
      new cmd heading: 246.861489 deg.

2025-06-27T19:41:22.497Z,1751053282.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308546 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:22.575Z,1751053282.575 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:22.575Z,1751053282.575 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:22.576Z,1751053282.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:22.827Z,1751053282.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503877
2025-06-27T19:41:22.925Z,1751053282.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:22.928Z,1751053282.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 235.089645 m,
      bearing: 249.854401 deg,
      approach rate: -0.749432 m/s,
      LOS rate: 0.007622 deg/s,
      cmd heading: 246.861478 deg,
      new cmd heading: 246.871361 deg.

2025-06-27T19:41:22.929Z,1751053282.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308718 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:23.079Z,1751053283.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755967
2025-06-27T19:41:23.299Z,1751053283.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:23.302Z,1751053283.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 234.812912 m,
      bearing: 249.857150 deg,
      approach rate: -0.739877 m/s,
      LOS rate: 0.007358 deg/s,
      cmd heading: 246.871368 deg,
      new cmd heading: 246.879625 deg.

2025-06-27T19:41:23.304Z,1751053283.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308862 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:23.331Z,1751053283.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007863
2025-06-27T19:41:23.584Z,1751053283.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260067
2025-06-27T19:41:23.705Z,1751053283.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:23.708Z,1751053283.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 234.504929 m,
      bearing: 249.860065 deg,
      approach rate: -0.758593 m/s,
      LOS rate: 0.007190 deg/s,
      cmd heading: 246.879619 deg,
      new cmd heading: 246.888376 deg.

2025-06-27T19:41:23.709Z,1751053283.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309015 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:23.836Z,1751053283.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512079
2025-06-27T19:41:24.087Z,1751053284.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764047
2025-06-27T19:41:24.136Z,1751053284.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:24.139Z,1751053284.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 234.180634 m,
      bearing: 249.861425 deg,
      approach rate: -0.753299 m/s,
      LOS rate: 0.003162 deg/s,
      cmd heading: 246.888389 deg,
      new cmd heading: 246.892472 deg.

2025-06-27T19:41:24.139Z,1751053284.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309086 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:24.343Z,1751053284.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019872
2025-06-27T19:41:24.511Z,1751053284.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:24.513Z,1751053284.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:24.516Z,1751053284.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 233.894897 m,
      bearing: 249.862623 deg,
      approach rate: -0.756590 m/s,
      LOS rate: 0.003176 deg/s,
      cmd heading: 246.892460 deg,
      new cmd heading: 246.896058 deg.

2025-06-27T19:41:24.517Z,1751053284.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309149 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:24.592Z,1751053284.592 [DAT](INFO): DAT read: Rx Time:19:41:22.8724

2025-06-27T19:41:24.592Z,1751053284.592 [DAT](INFO): Rx dataTimestamp_ set to:1751053284.591831
2025-06-27T19:41:24.593Z,1751053284.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269226
2025-06-27T19:41:24.843Z,1751053284.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519846
2025-06-27T19:41:25.023Z,1751053285.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.77 m.
2025-06-27T19:41:25.031Z,1751053285.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.773132 m,
      nav range: 233.559723 m,
      bearing: 249.862536 deg,
      approach rate: -0.657535 m/s,
      LOS rate: -0.000170 deg/s,
      cmd heading: 246.896066 deg,
      new cmd heading: 246.895806 deg.

2025-06-27T19:41:25.032Z,1751053285.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309144 target range: 264.773132 and range: 264.80 m.
2025-06-27T19:41:25.105Z,1751053285.105 [DAT](INFO): DAT read: 19:41:22.8725 LVL= 24112, 32753, 24706, 32755, AGC= 65, IDX= 411,-0.02, 2.571, 1.367, 2.574, 1.857, PHS= 0.802,-0.443, 0.714, RAW= 146.4, -17.5, CAL= 152.3, -25.1, ROT= 357.7,  25.1

2025-06-27T19:41:25.107Z,1751053285.107 [DAT](INFO): got valid direction response:
 19:41:22.8725 LVL= 24112, 32753, 24706, 32755, AGC= 65, IDX= 411,-0.02, 2.571, 1.367, 2.574, 1.857, PHS= 0.802,-0.443, 0.714, RAW= 146.4, -17.5, CAL= 152.3, -25.1, ROT= 357.7,  25.1

2025-06-27T19:41:25.108Z,1751053285.108 [DAT](INFO): DAT read: Bearing 357.7,  25.1 (Local)

2025-06-27T19:41:25.109Z,1751053285.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  25.1 (Local)

2025-06-27T19:41:25.116Z,1751053285.116 [DAT](INFO): DAT read: Range 10 to 50 : 262.2 m  (Round-trip  349.7 ms) speed  0.7 m/s

2025-06-27T19:41:25.117Z,1751053285.117 [DAT](INFO): DAT read: user:2666>

2025-06-27T19:41:25.118Z,1751053285.118 [DAT](INFO): DAT read: Tx time:19:41:23.9687

2025-06-27T19:41:25.135Z,1751053285.135 [DAT](INFO): Ping request sent.
2025-06-27T19:41:25.135Z,1751053285.135 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:25.135Z,1751053285.135 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:25.136Z,1751053285.136 [DAT](INFO): direction in FSK: [0.904839,-0.036342,-0.424199]
2025-06-27T19:41:25.137Z,1751053285.137 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:25.137Z,1751053285.137 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:25.145Z,1751053285.145 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:25.146Z,1751053285.146 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:25.348Z,1751053285.348 [DAT](INFO): DAT read: TxSync time:19:41:23.9679

2025-06-27T19:41:25.363Z,1751053285.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 262.200012 m,
      deltaT: 3.780303 s,
      deltaX: -2.599976 m,
      approachRate: -0.687769 m/s,
      rangeRepo size: 4

2025-06-27T19:41:25.365Z,1751053285.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 259.819427 m,
      bearing: 246.935050 deg,
      lat: 36.906523 deg,
      lon: -122.116458 deg,
      deltaT: 7.560458 s,
      deltaX: -4.953705 m,
      approachRate: -0.655212 m/s,
      posRepo size: 4

2025-06-27T19:41:25.366Z,1751053285.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:25.373Z,1751053285.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 233.863235 m,
      bearing: 249.472846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000170 deg/s,
      cmd heading: 246.895793 deg,
      new cmd heading: 246.895619 deg.

2025-06-27T19:41:25.374Z,1751053285.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309142 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:25.743Z,1751053285.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:25.745Z,1751053285.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 233.570114 m,
      bearing: 249.472500 deg,
      approach rate: -0.770857 m/s,
      LOS rate: -0.000911 deg/s,
      cmd heading: 246.895629 deg,
      new cmd heading: 246.894590 deg.

2025-06-27T19:41:25.747Z,1751053285.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309124 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:26.171Z,1751053286.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:26.174Z,1751053286.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 233.254135 m,
      bearing: 249.470289 deg,
      approach rate: -0.736833 m/s,
      LOS rate: -0.005164 deg/s,
      cmd heading: 246.894591 deg,
      new cmd heading: 246.887947 deg.

2025-06-27T19:41:26.175Z,1751053286.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309008 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:26.554Z,1751053286.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:26.556Z,1751053286.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:26.559Z,1751053286.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 232.970871 m,
      bearing: 249.468369 deg,
      approach rate: -0.735973 m/s,
      LOS rate: -0.004995 deg/s,
      cmd heading: 246.887952 deg,
      new cmd heading: 246.882185 deg.

2025-06-27T19:41:26.560Z,1751053286.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308907 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:26.608Z,1751053286.608 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:26.608Z,1751053286.608 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:26.609Z,1751053286.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:26.859Z,1751053286.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724478
2025-06-27T19:41:26.968Z,1751053286.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:27.000Z,1751053287.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 232.671402 m,
      bearing: 249.466207 deg,
      approach rate: -0.727062 m/s,
      LOS rate: -0.005256 deg/s,
      cmd heading: 246.882187 deg,
      new cmd heading: 246.875693 deg.

2025-06-27T19:41:27.018Z,1751053287.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308794 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:27.111Z,1751053287.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976496
2025-06-27T19:41:27.364Z,1751053287.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228843
2025-06-27T19:41:27.466Z,1751053287.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:27.469Z,1751053287.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 232.309921 m,
      bearing: 249.463473 deg,
      approach rate: -0.725758 m/s,
      LOS rate: -0.005497 deg/s,
      cmd heading: 246.875685 deg,
      new cmd heading: 246.867471 deg.

2025-06-27T19:41:27.470Z,1751053287.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308650 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:27.616Z,1751053287.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480660
2025-06-27T19:41:27.768Z,1751053287.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:27.795Z,1751053287.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 232.090363 m,
      bearing: 249.461766 deg,
      approach rate: -0.728315 m/s,
      LOS rate: -0.005668 deg/s,
      cmd heading: 246.867461 deg,
      new cmd heading: 246.862336 deg.

2025-06-27T19:41:27.796Z,1751053287.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308560 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:27.872Z,1751053287.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734803
2025-06-27T19:41:28.119Z,1751053288.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984409
2025-06-27T19:41:28.209Z,1751053288.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:28.228Z,1751053288.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 231.769730 m,
      bearing: 249.459343 deg,
      approach rate: -0.726046 m/s,
      LOS rate: -0.005494 deg/s,
      cmd heading: 246.862325 deg,
      new cmd heading: 246.855046 deg.

2025-06-27T19:41:28.229Z,1751053288.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308434 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:28.372Z,1751053288.372 [DAT](INFO): DAT read: Rx Time:19:41:26.7195

2025-06-27T19:41:28.372Z,1751053288.372 [DAT](INFO): Rx dataTimestamp_ set to:1751053288.371730
2025-06-27T19:41:28.373Z,1751053288.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237666
2025-06-27T19:41:28.601Z,1751053288.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:28.603Z,1751053288.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:28.607Z,1751053288.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 231.484009 m,
      bearing: 249.457178 deg,
      approach rate: -0.724836 m/s,
      LOS rate: -0.005498 deg/s,
      cmd heading: 246.855058 deg,
      new cmd heading: 246.848556 deg.

2025-06-27T19:41:28.608Z,1751053288.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308320 target range: 259.819427 and range: 262.20 m.
2025-06-27T19:41:28.623Z,1751053288.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488281
2025-06-27T19:41:28.876Z,1751053288.876 [DAT](INFO): DAT read: Range 10 to 50 : 259.9 m  (Round-trip  346.6 ms) speed  0.3 m/s

2025-06-27T19:41:28.877Z,1751053288.877 [DAT](INFO): DAT read: user:2667>

2025-06-27T19:41:28.878Z,1751053288.878 [DAT](INFO): DAT read: Tx time:19:41:27.8187

2025-06-27T19:41:28.878Z,1751053288.878 [DAT](INFO): Ping request sent.
2025-06-27T19:41:28.879Z,1751053288.879 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:28.879Z,1751053288.879 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:28.879Z,1751053288.879 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:28.880Z,1751053288.880 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:28.965Z,1751053288.965 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25062711423660,35.0,  0.0,1489.8,  0
2025-06-27T19:41:28.981Z,1751053288.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 259.899994 m,
      deltaT: 3.779644 s,
      deltaX: -2.300018 m,
      approachRate: -0.608528 m/s,
      rangeRepo size: 4

2025-06-27T19:41:28.982Z,1751053288.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:28.984Z,1751053288.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 231.209412 m,
      bearing: 249.455085 deg,
      approach rate: -0.728689 m/s,
      LOS rate: -0.005563 deg/s,
      cmd heading: 246.848555 deg,
      new cmd heading: 246.842267 deg.

2025-06-27T19:41:28.985Z,1751053288.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308210 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:29.128Z,1751053289.128 [DAT](INFO): DAT read: TxSync time:19:41:27.8179

2025-06-27T19:41:29.372Z,1751053289.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:29.375Z,1751053289.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 230.924545 m,
      bearing: 249.452930 deg,
      approach rate: -0.726483 m/s,
      LOS rate: -0.005501 deg/s,
      cmd heading: 246.842272 deg,
      new cmd heading: 246.835801 deg.

2025-06-27T19:41:29.376Z,1751053289.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308097 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:29.795Z,1751053289.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:29.797Z,1751053289.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 230.631516 m,
      bearing: 249.450820 deg,
      approach rate: -0.694257 m/s,
      LOS rate: -0.005007 deg/s,
      cmd heading: 246.835797 deg,
      new cmd heading: 246.829457 deg.

2025-06-27T19:41:29.803Z,1751053289.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307987 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:30.212Z,1751053290.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:30.215Z,1751053290.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 230.318802 m,
      bearing: 249.449465 deg,
      approach rate: -0.748310 m/s,
      LOS rate: -0.003246 deg/s,
      cmd heading: 246.829458 deg,
      new cmd heading: 246.825389 deg.

2025-06-27T19:41:30.216Z,1751053290.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307916 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:30.603Z,1751053290.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:30.605Z,1751053290.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 230.050705 m,
      bearing: 249.448312 deg,
      approach rate: -0.687218 m/s,
      LOS rate: -0.002958 deg/s,
      cmd heading: 246.825387 deg,
      new cmd heading: 246.821925 deg.

2025-06-27T19:41:30.611Z,1751053290.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307855 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:31.020Z,1751053291.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:31.039Z,1751053291.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:31.042Z,1751053291.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 229.736359 m,
      bearing: 249.446975 deg,
      approach rate: -0.719977 m/s,
      LOS rate: -0.003067 deg/s,
      cmd heading: 246.821918 deg,
      new cmd heading: 246.817900 deg.

2025-06-27T19:41:31.047Z,1751053291.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307785 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:31.144Z,1751053291.144 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:31.144Z,1751053291.144 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:31.144Z,1751053291.144 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:31.395Z,1751053291.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516804
2025-06-27T19:41:31.416Z,1751053291.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:31.419Z,1751053291.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 229.458847 m,
      bearing: 249.445869 deg,
      approach rate: -0.736275 m/s,
      LOS rate: -0.002939 deg/s,
      cmd heading: 246.817902 deg,
      new cmd heading: 246.814579 deg.

2025-06-27T19:41:31.420Z,1751053291.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307727 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:31.648Z,1751053291.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769430
2025-06-27T19:41:31.802Z,1751053291.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:31.805Z,1751053291.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 229.164413 m,
      bearing: 249.444747 deg,
      approach rate: -0.763050 m/s,
      LOS rate: -0.002910 deg/s,
      cmd heading: 246.814568 deg,
      new cmd heading: 246.811199 deg.

2025-06-27T19:41:31.806Z,1751053291.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307668 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:31.903Z,1751053291.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024372
2025-06-27T19:41:32.151Z,1751053292.151 [DAT](INFO): DAT read: Rx Time:19:41:30.5668

2025-06-27T19:41:32.152Z,1751053292.152 [DAT](INFO): Rx dataTimestamp_ set to:1751053292.151648
2025-06-27T19:41:32.152Z,1751053292.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273917
2025-06-27T19:41:32.263Z,1751053292.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:32.266Z,1751053292.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 228.839890 m,
      bearing: 249.445387 deg,
      approach rate: -0.703540 m/s,
      LOS rate: 0.001389 deg/s,
      cmd heading: 246.811208 deg,
      new cmd heading: 246.813130 deg.

2025-06-27T19:41:32.271Z,1751053292.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307702 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:32.403Z,1751053292.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524826
2025-06-27T19:41:32.610Z,1751053292.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 259.82 m.
2025-06-27T19:41:32.613Z,1751053292.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 259.819427 m,
      nav range: 228.574066 m,
      bearing: 249.445856 deg,
      approach rate: -0.766362 m/s,
      LOS rate: 0.001354 deg/s,
      cmd heading: 246.813120 deg,
      new cmd heading: 246.814529 deg.

2025-06-27T19:41:32.614Z,1751053292.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307726 target range: 259.819427 and range: 259.90 m.
2025-06-27T19:41:32.659Z,1751053292.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779420
2025-06-27T19:41:32.926Z,1751053292.926 [DAT](INFO): DAT read: 19:41:30.5668 LVL= 31536, 32705, 30962, 32755, AGC= 67, IDX= 414, 0.18, 0.210,-0.930, 0.058,-0.727, PHS= 1.024,-0.157, 0.782, RAW= 138.8, -28.4, CAL= 143.4, -33.7, ROT=   6.6,  33.7

2025-06-27T19:41:32.929Z,1751053292.929 [DAT](INFO): got valid direction response:
 19:41:30.5668 LVL= 31536, 32705, 30962, 32755, AGC= 67, IDX= 414, 0.18, 0.210,-0.930, 0.058,-0.727, PHS= 1.024,-0.157, 0.782, RAW= 138.8, -28.4, CAL= 143.4, -33.7, ROT=   6.6,  33.7

2025-06-27T19:41:32.932Z,1751053292.932 [DAT](INFO): DAT read: Bearing   6.6,  33.7 (Local)

2025-06-27T19:41:32.932Z,1751053292.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  33.7 (Local)

2025-06-27T19:41:32.934Z,1751053292.934 [DAT](INFO): DAT read: Range 10 to 50 : 258.0 m  (Round-trip  344.0 ms) speed  0.7 m/s

2025-06-27T19:41:32.935Z,1751053292.935 [DAT](INFO): DAT read: user:2668>

2025-06-27T19:41:32.936Z,1751053292.936 [DAT](INFO): DAT read: Tx time:19:41:31.6687

2025-06-27T19:41:32.936Z,1751053292.936 [DAT](INFO): Ping request sent.
2025-06-27T19:41:32.936Z,1751053292.936 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:32.937Z,1751053292.937 [DAT](INFO): DAT read: TxSync time:19:41:31.6679

2025-06-27T19:41:32.937Z,1751053292.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:32.938Z,1751053292.938 [DAT](INFO): direction in FSK: [0.826441,0.095622,-0.554844]
2025-06-27T19:41:32.939Z,1751053292.939 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:32.939Z,1751053292.939 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:32.942Z,1751053292.942 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:32.942Z,1751053292.942 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:33.111Z,1751053293.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.000000 m,
      deltaT: 4.032987 s,
      deltaX: -1.899994 m,
      approachRate: -0.471113 m/s,
      rangeRepo size: 4

2025-06-27T19:41:33.113Z,1751053293.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.657608 m,
      bearing: 256.346729 deg,
      lat: 36.906538 deg,
      lon: -122.116442 deg,
      deltaT: 7.812631 s,
      deltaX: -4.161819 m,
      approachRate: -0.532704 m/s,
      posRepo size: 4

2025-06-27T19:41:33.114Z,1751053293.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:33.121Z,1751053293.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 226.305725 m,
      bearing: 249.721279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001354 deg/s,
      cmd heading: 246.814541 deg,
      new cmd heading: 246.816557 deg.

2025-06-27T19:41:33.122Z,1751053293.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307762 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:33.432Z,1751053293.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:33.450Z,1751053293.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:33.453Z,1751053293.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 226.054977 m,
      bearing: 249.721908 deg,
      approach rate: -0.765142 m/s,
      LOS rate: 0.001924 deg/s,
      cmd heading: 246.816563 deg,
      new cmd heading: 246.818454 deg.

2025-06-27T19:41:33.454Z,1751053293.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307795 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:33.663Z,1751053293.663 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:33.663Z,1751053293.663 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:33.663Z,1751053293.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:33.816Z,1751053293.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:33.818Z,1751053293.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 225.780212 m,
      bearing: 249.722591 deg,
      approach rate: -0.722125 m/s,
      LOS rate: 0.001797 deg/s,
      cmd heading: 246.818448 deg,
      new cmd heading: 246.820499 deg.

2025-06-27T19:41:33.819Z,1751053293.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307830 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:33.919Z,1751053293.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982731
2025-06-27T19:41:34.167Z,1751053294.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231343
2025-06-27T19:41:34.273Z,1751053294.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:34.276Z,1751053294.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 225.444672 m,
      bearing: 249.725479 deg,
      approach rate: -0.731641 m/s,
      LOS rate: 0.006306 deg/s,
      cmd heading: 246.820497 deg,
      new cmd heading: 246.829172 deg.

2025-06-27T19:41:34.277Z,1751053294.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307982 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:34.419Z,1751053294.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483386
2025-06-27T19:41:34.623Z,1751053294.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:34.626Z,1751053294.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 225.188995 m,
      bearing: 249.727752 deg,
      approach rate: -0.730802 m/s,
      LOS rate: 0.006506 deg/s,
      cmd heading: 246.829185 deg,
      new cmd heading: 246.836014 deg.

2025-06-27T19:41:34.627Z,1751053294.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308101 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:34.671Z,1751053294.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735507
2025-06-27T19:41:34.926Z,1751053294.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989573
2025-06-27T19:41:35.094Z,1751053295.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:35.097Z,1751053295.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 224.846390 m,
      bearing: 249.730385 deg,
      approach rate: -0.727351 m/s,
      LOS rate: 0.005598 deg/s,
      cmd heading: 246.836015 deg,
      new cmd heading: 246.843926 deg.

2025-06-27T19:41:35.098Z,1751053295.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308239 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:35.176Z,1751053295.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240367
2025-06-27T19:41:35.427Z,1751053295.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491453
2025-06-27T19:41:35.432Z,1751053295.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:35.435Z,1751053295.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:35.437Z,1751053295.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 224.600311 m,
      bearing: 249.732232 deg,
      approach rate: -0.722808 m/s,
      LOS rate: 0.005431 deg/s,
      cmd heading: 246.843938 deg,
      new cmd heading: 246.849485 deg.

2025-06-27T19:41:35.439Z,1751053295.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308336 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:35.679Z,1751053295.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743348
2025-06-27T19:41:35.843Z,1751053295.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:35.845Z,1751053295.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 224.302475 m,
      bearing: 249.734404 deg,
      approach rate: -0.730097 m/s,
      LOS rate: 0.005330 deg/s,
      cmd heading: 246.849484 deg,
      new cmd heading: 246.856007 deg.

2025-06-27T19:41:35.847Z,1751053295.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308450 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:35.935Z,1751053295.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998244
2025-06-27T19:41:36.184Z,1751053296.184 [DAT](INFO): DAT read: Rx Time:19:41:34.4129

2025-06-27T19:41:36.185Z,1751053296.185 [DAT](INFO): Rx dataTimestamp_ set to:1751053296.184546
2025-06-27T19:41:36.186Z,1751053296.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249711
2025-06-27T19:41:36.296Z,1751053296.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:36.303Z,1751053296.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 223.970612 m,
      bearing: 249.737551 deg,
      approach rate: -0.731101 m/s,
      LOS rate: 0.006944 deg/s,
      cmd heading: 246.856014 deg,
      new cmd heading: 246.865470 deg.

2025-06-27T19:41:36.304Z,1751053296.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308615 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:36.435Z,1751053296.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499500
2025-06-27T19:41:36.662Z,1751053296.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.66 m.
2025-06-27T19:41:36.665Z,1751053296.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.657608 m,
      nav range: 223.711609 m,
      bearing: 249.739943 deg,
      approach rate: -0.708403 m/s,
      LOS rate: 0.006549 deg/s,
      cmd heading: 246.865467 deg,
      new cmd heading: 246.872651 deg.

2025-06-27T19:41:36.666Z,1751053296.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308741 target range: 255.657608 and range: 258.00 m.
2025-06-27T19:41:36.704Z,1751053296.704 [DAT](INFO): DAT read: 19:41:34.4129 LVL= 19808, 24913, 22706, 24947, AGC= 64, IDX= 170, 0.10,-0.920,-2.367,-1.351,-1.387, PHS= 0.555,-0.932, 0.033, RAW= 129.8,   5.3, CAL= 136.4,  -0.8, ROT=  13.6,   0.8

2025-06-27T19:41:36.705Z,1751053296.705 [DAT](INFO): got valid direction response:
 19:41:34.4129 LVL= 19808, 24913, 22706, 24947, AGC= 64, IDX= 170, 0.10,-0.920,-2.367,-1.351,-1.387, PHS= 0.555,-0.932, 0.033, RAW= 129.8,   5.3, CAL= 136.4,  -0.8, ROT=  13.6,   0.8

2025-06-27T19:41:36.739Z,1751053296.739 [DAT](INFO): DAT read: Bearing  13.6,   0.8 (Local)

2025-06-27T19:41:36.739Z,1751053296.739 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.6,   0.8 (Local)

2025-06-27T19:41:36.741Z,1751053296.741 [DAT](INFO): DAT read: Range 10 to 50 : 255.0 m  (Round-trip  340.0 ms) speed  0.4 m/s

2025-06-27T19:41:36.742Z,1751053296.742 [DAT](INFO): DAT read: user:2669>

2025-06-27T19:41:36.749Z,1751053296.749 [DAT](INFO): DAT read: Tx time:19:41:35.5188

2025-06-27T19:41:36.750Z,1751053296.750 [DAT](INFO): Ping request sent.
2025-06-27T19:41:36.754Z,1751053296.754 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:36.755Z,1751053296.755 [DAT](INFO): DAT read: TxSync time:19:41:35.5180

2025-06-27T19:41:36.756Z,1751053296.756 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:36.757Z,1751053296.757 [DAT](INFO): direction in FSK: [0.971866,0.235119,-0.013962]
2025-06-27T19:41:36.757Z,1751053296.757 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:36.758Z,1751053296.758 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:36.765Z,1751053296.765 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:36.766Z,1751053296.766 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:37.096Z,1751053297.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 255.000000 m,
      deltaT: 3.779015 s,
      deltaX: -3.000000 m,
      approachRate: -0.793858 m/s,
      rangeRepo size: 4

2025-06-27T19:41:37.098Z,1751053297.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.685181 m,
      bearing: 260.645011 deg,
      lat: 36.906538 deg,
      lon: -122.116442 deg,
      deltaT: 3.779015 s,
      deltaX: -2.972427 m,
      approachRate: -0.786561 m/s,
      posRepo size: 4

2025-06-27T19:41:37.099Z,1751053297.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:37.101Z,1751053297.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 223.376495 m,
      bearing: 249.742513 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006549 deg/s,
      cmd heading: 246.872652 deg,
      new cmd heading: 246.881151 deg.

2025-06-27T19:41:37.102Z,1751053297.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.308889 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:37.463Z,1751053297.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:37.466Z,1751053297.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:37.469Z,1751053297.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 223.096054 m,
      bearing: 249.744766 deg,
      approach rate: -0.755945 m/s,
      LOS rate: 0.006082 deg/s,
      cmd heading: 246.881149 deg,
      new cmd heading: 246.887918 deg.

2025-06-27T19:41:37.470Z,1751053297.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309007 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:37.695Z,1751053297.695 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:37.695Z,1751053297.695 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:37.696Z,1751053297.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:37.857Z,1751053297.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:37.860Z,1751053297.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 222.802155 m,
      bearing: 249.747072 deg,
      approach rate: -0.751365 m/s,
      LOS rate: 0.005902 deg/s,
      cmd heading: 246.887925 deg,
      new cmd heading: 246.894851 deg.

2025-06-27T19:41:37.861Z,1751053297.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309128 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:37.948Z,1751053297.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198548
2025-06-27T19:41:38.199Z,1751053298.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449440
2025-06-27T19:41:38.311Z,1751053298.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:38.318Z,1751053298.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 222.467957 m,
      bearing: 249.751293 deg,
      approach rate: -0.734991 m/s,
      LOS rate: 0.009298 deg/s,
      cmd heading: 246.894864 deg,
      new cmd heading: 246.907547 deg.

2025-06-27T19:41:38.320Z,1751053298.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309350 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:38.452Z,1751053298.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702059
2025-06-27T19:41:38.665Z,1751053298.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:38.668Z,1751053298.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 222.197250 m,
      bearing: 249.754666 deg,
      approach rate: -0.765455 m/s,
      LOS rate: 0.009549 deg/s,
      cmd heading: 246.907541 deg,
      new cmd heading: 246.917672 deg.

2025-06-27T19:41:38.669Z,1751053298.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309526 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:38.704Z,1751053298.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954257
2025-06-27T19:41:38.958Z,1751053298.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207485
2025-06-27T19:41:39.149Z,1751053299.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:39.151Z,1751053299.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 221.822281 m,
      bearing: 249.757656 deg,
      approach rate: -0.775735 m/s,
      LOS rate: 0.006196 deg/s,
      cmd heading: 246.917677 deg,
      new cmd heading: 246.926662 deg.

2025-06-27T19:41:39.152Z,1751053299.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309683 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:39.208Z,1751053299.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457963
2025-06-27T19:41:39.459Z,1751053299.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709496
2025-06-27T19:41:39.517Z,1751053299.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:39.520Z,1751053299.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:39.523Z,1751053299.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 221.541519 m,
      bearing: 249.759900 deg,
      approach rate: -0.755012 m/s,
      LOS rate: 0.006042 deg/s,
      cmd heading: 246.926665 deg,
      new cmd heading: 246.933406 deg.

2025-06-27T19:41:39.524Z,1751053299.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309801 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:39.711Z,1751053299.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961403
2025-06-27T19:41:39.960Z,1751053299.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:39.965Z,1751053299.965 [DAT](INFO): DAT read: Rx Time:19:41:38.2590

2025-06-27T19:41:39.967Z,1751053299.967 [DAT](INFO): Rx dataTimestamp_ set to:1751053299.965904
2025-06-27T19:41:39.969Z,1751053299.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218330
2025-06-27T19:41:39.970Z,1751053299.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 221.192917 m,
      bearing: 249.762723 deg,
      approach rate: -0.792064 m/s,
      LOS rate: 0.006423 deg/s,
      cmd heading: 246.933414 deg,
      new cmd heading: 246.941895 deg.

2025-06-27T19:41:39.971Z,1751053299.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309949 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:40.215Z,1751053300.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465574
2025-06-27T19:41:40.378Z,1751053300.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:40.385Z,1751053300.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 220.877625 m,
      bearing: 249.761823 deg,
      approach rate: -0.755492 m/s,
      LOS rate: -0.002158 deg/s,
      cmd heading: 246.941883 deg,
      new cmd heading: 246.939181 deg.

2025-06-27T19:41:40.386Z,1751053300.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309902 target range: 252.685181 and range: 255.00 m.
2025-06-27T19:41:40.470Z,1751053300.470 [DAT](INFO): DAT read: Range 10 to 50 : 252.0 m  (Round-trip  336.1 ms) speed  0.4 m/s

2025-06-27T19:41:40.471Z,1751053300.471 [DAT](INFO): DAT read: user:2670>

2025-06-27T19:41:40.472Z,1751053300.472 [DAT](INFO): DAT read: Tx time:19:41:39.3688

2025-06-27T19:41:40.472Z,1751053300.472 [DAT](INFO): Ping request sent.
2025-06-27T19:41:40.472Z,1751053300.472 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:40.472Z,1751053300.472 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:40.472Z,1751053300.472 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:40.473Z,1751053300.473 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:40.720Z,1751053300.720 [DAT](INFO): DAT read: TxSync time:19:41:39.3680

2025-06-27T19:41:40.753Z,1751053300.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.000000 m,
      deltaT: 3.781483 s,
      deltaX: -3.000000 m,
      approachRate: -0.793340 m/s,
      rangeRepo size: 4

2025-06-27T19:41:40.753Z,1751053300.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:40.760Z,1751053300.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 220.604279 m,
      bearing: 249.761061 deg,
      approach rate: -0.730809 m/s,
      LOS rate: -0.002041 deg/s,
      cmd heading: 246.939178 deg,
      new cmd heading: 246.936888 deg.

2025-06-27T19:41:40.761Z,1751053300.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309862 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:41.144Z,1751053301.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:41.147Z,1751053301.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 220.281845 m,
      bearing: 249.760679 deg,
      approach rate: -0.822618 m/s,
      LOS rate: -0.000976 deg/s,
      cmd heading: 246.936883 deg,
      new cmd heading: 246.935736 deg.

2025-06-27T19:41:41.148Z,1751053301.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309842 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:41.514Z,1751053301.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:41.517Z,1751053301.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 219.996353 m,
      bearing: 249.760327 deg,
      approach rate: -0.770667 m/s,
      LOS rate: -0.000952 deg/s,
      cmd heading: 246.935736 deg,
      new cmd heading: 246.934678 deg.

2025-06-27T19:41:41.518Z,1751053301.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309823 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:41.932Z,1751053301.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:41.934Z,1751053301.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:41.938Z,1751053301.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 219.682220 m,
      bearing: 249.759938 deg,
      approach rate: -0.748279 m/s,
      LOS rate: -0.000927 deg/s,
      cmd heading: 246.934670 deg,
      new cmd heading: 246.933503 deg.

2025-06-27T19:41:41.939Z,1751053301.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309803 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:41.980Z,1751053301.980 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:41.980Z,1751053301.980 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:41.980Z,1751053301.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:42.231Z,1751053302.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759259
2025-06-27T19:41:42.311Z,1751053302.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:42.314Z,1751053302.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 219.382874 m,
      bearing: 249.759538 deg,
      approach rate: -0.794203 m/s,
      LOS rate: -0.001064 deg/s,
      cmd heading: 246.933496 deg,
      new cmd heading: 246.932293 deg.

2025-06-27T19:41:42.315Z,1751053302.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309782 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:42.483Z,1751053302.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011252
2025-06-27T19:41:42.726Z,1751053302.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:42.729Z,1751053302.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 219.063095 m,
      bearing: 249.759076 deg,
      approach rate: -0.770474 m/s,
      LOS rate: -0.001113 deg/s,
      cmd heading: 246.932294 deg,
      new cmd heading: 246.930907 deg.

2025-06-27T19:41:42.730Z,1751053302.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309757 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:42.735Z,1751053302.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263432
2025-06-27T19:41:42.987Z,1751053302.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515244
2025-06-27T19:41:43.134Z,1751053303.134 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3276,V
2025-06-27T19:41:43.149Z,1751053303.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:43.152Z,1751053303.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 218.737427 m,
      bearing: 249.758606 deg,
      approach rate: -0.770085 m/s,
      LOS rate: -0.001113 deg/s,
      cmd heading: 246.930900 deg,
      new cmd heading: 246.929488 deg.

2025-06-27T19:41:43.153Z,1751053303.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309732 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:43.240Z,1751053303.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768327
2025-06-27T19:41:43.491Z,1751053303.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019256
2025-06-27T19:41:43.530Z,1751053303.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:43.533Z,1751053303.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 218.443710 m,
      bearing: 249.758177 deg,
      approach rate: -0.770155 m/s,
      LOS rate: -0.001128 deg/s,
      cmd heading: 246.929479 deg,
      new cmd heading: 246.928189 deg.

2025-06-27T19:41:43.534Z,1751053303.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309710 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:43.743Z,1751053303.743 [DAT](INFO): DAT read: Rx Time:19:41:42.1067

2025-06-27T19:41:43.744Z,1751053303.744 [DAT](INFO): Rx dataTimestamp_ set to:1751053303.743667
2025-06-27T19:41:43.744Z,1751053303.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272443
2025-06-27T19:41:43.943Z,1751053303.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:43.945Z,1751053303.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:43.948Z,1751053303.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 218.137100 m,
      bearing: 249.757737 deg,
      approach rate: -0.739697 m/s,
      LOS rate: -0.001062 deg/s,
      cmd heading: 246.928195 deg,
      new cmd heading: 246.926875 deg.

2025-06-27T19:41:43.949Z,1751053303.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309687 target range: 252.685181 and range: 252.00 m.
2025-06-27T19:41:43.996Z,1751053303.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524171
2025-06-27T19:41:44.251Z,1751053304.251 [DAT](INFO): DAT read: Range 10 to 50 : 250.2 m  (Round-trip  333.7 ms) speed  0.8 m/s

2025-06-27T19:41:44.252Z,1751053304.252 [DAT](INFO): DAT read: user:2671>

2025-06-27T19:41:44.253Z,1751053304.253 [DAT](INFO): DAT read: Tx time:19:41:43.2204

2025-06-27T19:41:44.253Z,1751053304.253 [DAT](INFO): Ping request sent.
2025-06-27T19:41:44.253Z,1751053304.253 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:44.253Z,1751053304.253 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:41:44.253Z,1751053304.253 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:44.254Z,1751053304.254 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:44.370Z,1751053304.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 250.199997 m,
      deltaT: 3.779990 s,
      deltaX: -1.800003 m,
      approachRate: -0.476193 m/s,
      rangeRepo size: 4

2025-06-27T19:41:44.382Z,1751053304.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:44.385Z,1751053304.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 217.814011 m,
      bearing: 249.756384 deg,
      approach rate: -0.761662 m/s,
      LOS rate: -0.003195 deg/s,
      cmd heading: 246.926884 deg,
      new cmd heading: 246.922818 deg.

2025-06-27T19:41:44.386Z,1751053304.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309616 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:44.500Z,1751053304.500 [DAT](INFO): DAT read: TxSync time:19:41:43.2196

2025-06-27T19:41:44.738Z,1751053304.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:44.740Z,1751053304.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 217.543884 m,
      bearing: 249.755245 deg,
      approach rate: -0.732965 m/s,
      LOS rate: -0.003093 deg/s,
      cmd heading: 246.922813 deg,
      new cmd heading: 246.919393 deg.

2025-06-27T19:41:44.741Z,1751053304.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309556 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:45.173Z,1751053305.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:45.176Z,1751053305.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 217.231659 m,
      bearing: 249.755001 deg,
      approach rate: -0.716633 m/s,
      LOS rate: -0.000562 deg/s,
      cmd heading: 246.919398 deg,
      new cmd heading: 246.918664 deg.

2025-06-27T19:41:45.177Z,1751053305.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309544 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:45.543Z,1751053305.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:45.545Z,1751053305.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 216.967117 m,
      bearing: 249.754835 deg,
      approach rate: -0.716143 m/s,
      LOS rate: -0.000449 deg/s,
      cmd heading: 246.918660 deg,
      new cmd heading: 246.918163 deg.

2025-06-27T19:41:45.547Z,1751053305.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309535 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:45.952Z,1751053305.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:45.955Z,1751053305.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:45.957Z,1751053305.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 216.672806 m,
      bearing: 249.754607 deg,
      approach rate: -0.715169 m/s,
      LOS rate: -0.000555 deg/s,
      cmd heading: 246.918169 deg,
      new cmd heading: 246.917484 deg.

2025-06-27T19:41:45.959Z,1751053305.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309523 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:46.012Z,1751053306.012 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:46.012Z,1751053306.012 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:46.013Z,1751053306.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:46.263Z,1751053306.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010237
2025-06-27T19:41:46.399Z,1751053306.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:46.402Z,1751053306.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 216.357468 m,
      bearing: 249.754300 deg,
      approach rate: -0.708332 m/s,
      LOS rate: -0.000690 deg/s,
      cmd heading: 246.917486 deg,
      new cmd heading: 246.916564 deg.

2025-06-27T19:41:46.403Z,1751053306.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309507 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:46.516Z,1751053306.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262964
2025-06-27T19:41:46.767Z,1751053306.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514138
2025-06-27T19:41:46.786Z,1751053306.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:46.788Z,1751053306.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 216.097397 m,
      bearing: 249.753993 deg,
      approach rate: -0.673300 m/s,
      LOS rate: -0.000798 deg/s,
      cmd heading: 246.916557 deg,
      new cmd heading: 246.915632 deg.

2025-06-27T19:41:46.789Z,1751053306.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309491 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:47.020Z,1751053307.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766902
2025-06-27T19:41:47.207Z,1751053307.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:47.210Z,1751053307.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 215.789963 m,
      bearing: 249.753169 deg,
      approach rate: -0.729333 m/s,
      LOS rate: -0.001956 deg/s,
      cmd heading: 246.915628 deg,
      new cmd heading: 246.913155 deg.

2025-06-27T19:41:47.211Z,1751053307.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309447 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:47.272Z,1751053307.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018638
2025-06-27T19:41:47.523Z,1751053307.523 [DAT](INFO): DAT read: Rx Time:19:41:45.9552

2025-06-27T19:41:47.524Z,1751053307.524 [DAT](INFO): Rx dataTimestamp_ set to:1751053307.523575
2025-06-27T19:41:47.524Z,1751053307.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271339
2025-06-27T19:41:47.612Z,1751053307.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:47.619Z,1751053307.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 215.512695 m,
      bearing: 249.752392 deg,
      approach rate: -0.684663 m/s,
      LOS rate: -0.001923 deg/s,
      cmd heading: 246.913142 deg,
      new cmd heading: 246.910806 deg.

2025-06-27T19:41:47.620Z,1751053307.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309406 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:47.776Z,1751053307.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522565
2025-06-27T19:41:47.986Z,1751053307.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:48.011Z,1751053308.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.69 m.
2025-06-27T19:41:48.019Z,1751053308.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.685181 m,
      nav range: 215.244629 m,
      bearing: 249.751624 deg,
      approach rate: -0.680729 m/s,
      LOS rate: -0.001953 deg/s,
      cmd heading: 246.910792 deg,
      new cmd heading: 246.908485 deg.

2025-06-27T19:41:48.020Z,1751053308.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309366 target range: 252.685181 and range: 250.20 m.
2025-06-27T19:41:48.028Z,1751053308.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774460
2025-06-27T19:41:48.286Z,1751053308.286 [DAT](INFO): DAT read: 19:41:45.9552 LVL= 31824, 32753, 32754, 32755, AGC= 65, IDX= 406,-0.18,-0.210,-1.522,-0.337,-1.005, PHS= 0.883,-0.470, 0.665, RAW= 141.4, -16.9, CAL= 147.3, -25.1, ROT=   2.7,  25.1

2025-06-27T19:41:48.287Z,1751053308.287 [DAT](INFO): got valid direction response:
 19:41:45.9552 LVL= 31824, 32753, 32754, 32755, AGC= 65, IDX= 406,-0.18,-0.210,-1.522,-0.337,-1.005, PHS= 0.883,-0.470, 0.665, RAW= 141.4, -16.9, CAL= 147.3, -25.1, ROT=   2.7,  25.1

2025-06-27T19:41:48.288Z,1751053308.288 [DAT](INFO): DAT read: Bearing   2.7,  25.1 (Local)

2025-06-27T19:41:48.288Z,1751053308.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  25.1 (Local)

2025-06-27T19:41:48.290Z,1751053308.290 [DAT](INFO): DAT read: Range 10 to 50 : 247.9 m  (Round-trip  330.6 ms) speed  0.7 m/s

2025-06-27T19:41:48.291Z,1751053308.291 [DAT](INFO): DAT read: user:2672>

2025-06-27T19:41:48.291Z,1751053308.291 [DAT](INFO): DAT read: Tx time:19:41:47.0689

2025-06-27T19:41:48.292Z,1751053308.292 [DAT](INFO): Ping request sent.
2025-06-27T19:41:48.292Z,1751053308.292 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:48.292Z,1751053308.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:48.293Z,1751053308.293 [DAT](INFO): direction in FSK: [0.904563,0.042658,-0.424199]
2025-06-27T19:41:48.293Z,1751053308.293 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:48.294Z,1751053308.294 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:48.301Z,1751053308.301 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:48.301Z,1751053308.301 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:48.532Z,1751053308.532 [DAT](INFO): DAT read: TxSync time:19:41:47.0681

2025-06-27T19:41:48.589Z,1751053308.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.899994 m,
      deltaT: 4.030346 s,
      deltaX: -2.300003 m,
      approachRate: -0.570671 m/s,
      rangeRepo size: 4

2025-06-27T19:41:48.598Z,1751053308.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.649109 m,
      bearing: 251.821408 deg,
      lat: 36.906580 deg,
      lon: -122.116442 deg,
      deltaT: 11.591819 s,
      deltaX: -7.036072 m,
      approachRate: -0.606986 m/s,
      posRepo size: 4

2025-06-27T19:41:48.603Z,1751053308.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:48.612Z,1751053308.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 213.266891 m,
      bearing: 250.933760 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001953 deg/s,
      cmd heading: 246.908497 deg,
      new cmd heading: 246.905119 deg.

2025-06-27T19:41:48.613Z,1751053308.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309307 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:48.898Z,1751053308.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:48.900Z,1751053308.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 213.020172 m,
      bearing: 250.934402 deg,
      approach rate: -0.782794 m/s,
      LOS rate: 0.002037 deg/s,
      cmd heading: 246.905109 deg,
      new cmd heading: 246.907036 deg.

2025-06-27T19:41:48.901Z,1751053308.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309341 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:49.328Z,1751053309.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:49.331Z,1751053309.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 212.711426 m,
      bearing: 250.935405 deg,
      approach rate: -0.717021 m/s,
      LOS rate: 0.002332 deg/s,
      cmd heading: 246.907049 deg,
      new cmd heading: 246.910062 deg.

2025-06-27T19:41:49.332Z,1751053309.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309393 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:49.710Z,1751053309.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:49.716Z,1751053309.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 212.440689 m,
      bearing: 250.936307 deg,
      approach rate: -0.709647 m/s,
      LOS rate: 0.002369 deg/s,
      cmd heading: 246.910054 deg,
      new cmd heading: 246.912765 deg.

2025-06-27T19:41:49.717Z,1751053309.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309441 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:49.787Z,1751053309.787 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:41:50.101Z,1751053310.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:50.103Z,1751053310.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:50.106Z,1751053310.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 212.154938 m,
      bearing: 250.937191 deg,
      approach rate: -0.726312 m/s,
      LOS rate: 0.002250 deg/s,
      cmd heading: 246.912759 deg,
      new cmd heading: 246.915415 deg.

2025-06-27T19:41:50.107Z,1751053310.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309487 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:50.295Z,1751053310.295 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:50.295Z,1751053310.295 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:50.295Z,1751053310.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:50.537Z,1751053310.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:50.540Z,1751053310.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 211.840515 m,
      bearing: 250.938850 deg,
      approach rate: -0.724840 m/s,
      LOS rate: 0.003830 deg/s,
      cmd heading: 246.915409 deg,
      new cmd heading: 246.920394 deg.

2025-06-27T19:41:50.541Z,1751053310.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309574 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:50.547Z,1751053310.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255505
2025-06-27T19:41:50.791Z,1751053310.791 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:41:50.799Z,1751053310.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507372
2025-06-27T19:41:50.919Z,1751053310.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:50.927Z,1751053310.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 211.557220 m,
      bearing: 250.940343 deg,
      approach rate: -0.742616 m/s,
      LOS rate: 0.003918 deg/s,
      cmd heading: 246.920382 deg,
      new cmd heading: 246.924865 deg.

2025-06-27T19:41:50.928Z,1751053310.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309652 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:51.052Z,1751053311.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759649
2025-06-27T19:41:51.303Z,1751053311.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011512
2025-06-27T19:41:51.421Z,1751053311.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:51.424Z,1751053311.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 211.182404 m,
      bearing: 250.941845 deg,
      approach rate: -0.745928 m/s,
      LOS rate: 0.002995 deg/s,
      cmd heading: 246.924862 deg,
      new cmd heading: 246.929377 deg.

2025-06-27T19:41:51.425Z,1751053311.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309731 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:51.555Z,1751053311.555 [DAT](INFO): DAT read: Rx Time:19:41:49.7994

2025-06-27T19:41:51.556Z,1751053311.556 [DAT](INFO): Rx dataTimestamp_ set to:1751053311.555550
2025-06-27T19:41:51.556Z,1751053311.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264476
2025-06-27T19:41:51.747Z,1751053311.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.65 m.
2025-06-27T19:41:51.750Z,1751053311.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.649109 m,
      nav range: 210.951431 m,
      bearing: 250.942796 deg,
      approach rate: -0.707714 m/s,
      LOS rate: 0.002916 deg/s,
      cmd heading: 246.929370 deg,
      new cmd heading: 246.932225 deg.

2025-06-27T19:41:51.755Z,1751053311.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309781 target range: 245.649109 and range: 247.90 m.
2025-06-27T19:41:51.808Z,1751053311.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516381
2025-06-27T19:41:52.065Z,1751053312.065 [DAT](INFO): DAT read: 19:41:49.7994 LVL= 22960, 26817, 21346, 29987, AGC= 67, IDX= 154,-0.17, 0.231,-1.138,-0.249,-0.268, PHS= 0.586,-0.824, 0.015, RAW= 126.3,   3.7, CAL= 133.7,  -2.6, ROT=  16.3,   2.6

2025-06-27T19:41:52.066Z,1751053312.066 [DAT](INFO): got valid direction response:
 19:41:49.7994 LVL= 22960, 26817, 21346, 29987, AGC= 67, IDX= 154,-0.17, 0.231,-1.138,-0.249,-0.268, PHS= 0.586,-0.824, 0.015, RAW= 126.3,   3.7, CAL= 133.7,  -2.6, ROT=  16.3,   2.6

2025-06-27T19:41:52.067Z,1751053312.067 [DAT](INFO): DAT read: Bearing  16.3,   2.6 (Local)

2025-06-27T19:41:52.068Z,1751053312.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.3,   2.6 (Local)

2025-06-27T19:41:52.069Z,1751053312.069 [DAT](INFO): DAT read: Range 10 to 50 : 244.7 m  (Round-trip  326.3 ms) speed  0.8 m/s

2025-06-27T19:41:52.070Z,1751053312.070 [DAT](INFO): DAT read: user:2673>

2025-06-27T19:41:52.071Z,1751053312.071 [DAT](INFO): DAT read: Tx time:19:41:50.9189

2025-06-27T19:41:52.071Z,1751053312.071 [DAT](INFO): Ping request sent.
2025-06-27T19:41:52.071Z,1751053312.071 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:52.072Z,1751053312.072 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:52.073Z,1751053312.073 [DAT](INFO): direction in FSK: [0.958817,0.280378,-0.045363]
2025-06-27T19:41:52.073Z,1751053312.073 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:52.073Z,1751053312.073 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:52.076Z,1751053312.076 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:52.077Z,1751053312.077 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:52.312Z,1751053312.312 [DAT](INFO): DAT read: TxSync time:19:41:50.9181

2025-06-27T19:41:52.416Z,1751053312.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.699997 m,
      deltaT: 3.780040 s,
      deltaX: -3.199997 m,
      approachRate: -0.846551 m/s,
      rangeRepo size: 4

2025-06-27T19:41:52.419Z,1751053312.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 242.477646 m,
      bearing: 263.404618 deg,
      lat: 36.906788 deg,
      lon: -122.116561 deg,
      deltaT: 3.780040 s,
      deltaX: -3.171463 m,
      approachRate: -0.839002 m/s,
      posRepo size: 4

2025-06-27T19:41:52.419Z,1751053312.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:52.422Z,1751053312.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 214.434036 m,
      bearing: 257.701603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002916 deg/s,
      cmd heading: 246.932239 deg,
      new cmd heading: 246.938087 deg.

2025-06-27T19:41:52.423Z,1751053312.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309883 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:52.717Z,1751053312.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:52.720Z,1751053312.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:52.731Z,1751053312.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 214.207367 m,
      bearing: 257.710457 deg,
      approach rate: -0.745660 m/s,
      LOS rate: 0.029158 deg/s,
      cmd heading: 246.938086 deg,
      new cmd heading: 246.964677 deg.

2025-06-27T19:41:52.732Z,1751053312.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310347 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:52.815Z,1751053312.815 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:52.815Z,1751053312.815 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:52.816Z,1751053312.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:53.067Z,1751053313.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995980
2025-06-27T19:41:53.282Z,1751053313.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:53.300Z,1751053313.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 213.879425 m,
      bearing: 257.723323 deg,
      approach rate: -0.583492 m/s,
      LOS rate: 0.022926 deg/s,
      cmd heading: 246.964669 deg,
      new cmd heading: 247.003324 deg.

2025-06-27T19:41:53.300Z,1751053313.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311021 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:53.320Z,1751053313.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248206
2025-06-27T19:41:53.571Z,1751053313.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500038
2025-06-27T19:41:53.645Z,1751053313.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:53.648Z,1751053313.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 213.523117 m,
      bearing: 257.738833 deg,
      approach rate: -0.980573 m/s,
      LOS rate: 0.042756 deg/s,
      cmd heading: 247.003327 deg,
      new cmd heading: 247.049935 deg.

2025-06-27T19:41:53.649Z,1751053313.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311835 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:53.824Z,1751053313.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752217
2025-06-27T19:41:54.029Z,1751053314.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:54.032Z,1751053314.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 213.239761 m,
      bearing: 257.751205 deg,
      approach rate: -0.737354 m/s,
      LOS rate: 0.032238 deg/s,
      cmd heading: 247.049937 deg,
      new cmd heading: 247.087103 deg.

2025-06-27T19:41:54.033Z,1751053314.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312483 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:54.076Z,1751053314.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004541
2025-06-27T19:41:54.327Z,1751053314.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255903
2025-06-27T19:41:54.427Z,1751053314.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:54.429Z,1751053314.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 212.943314 m,
      bearing: 257.766107 deg,
      approach rate: -0.746981 m/s,
      LOS rate: 0.037601 deg/s,
      cmd heading: 247.087093 deg,
      new cmd heading: 247.131860 deg.

2025-06-27T19:41:54.431Z,1751053314.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313265 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:54.579Z,1751053314.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507973
2025-06-27T19:41:54.809Z,1751053314.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:54.812Z,1751053314.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:54.815Z,1751053314.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 212.657883 m,
      bearing: 257.780504 deg,
      approach rate: -0.740391 m/s,
      LOS rate: 0.037394 deg/s,
      cmd heading: 247.131872 deg,
      new cmd heading: 247.175120 deg.

2025-06-27T19:41:54.816Z,1751053314.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314020 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:54.831Z,1751053314.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760119
2025-06-27T19:41:55.083Z,1751053315.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011905
2025-06-27T19:41:55.287Z,1751053315.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:55.290Z,1751053315.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 212.326431 m,
      bearing: 257.797272 deg,
      approach rate: -0.696971 m/s,
      LOS rate: 0.035315 deg/s,
      cmd heading: 247.175120 deg,
      new cmd heading: 247.225504 deg.

2025-06-27T19:41:55.295Z,1751053315.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314899 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:55.336Z,1751053315.336 [DAT](INFO): DAT read: Rx Time:19:41:53.6464

2025-06-27T19:41:55.336Z,1751053315.336 [DAT](INFO): Rx dataTimestamp_ set to:1751053315.335836
2025-06-27T19:41:55.337Z,1751053315.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265335
2025-06-27T19:41:55.587Z,1751053315.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515982
2025-06-27T19:41:55.647Z,1751053315.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.48 m.
2025-06-27T19:41:55.649Z,1751053315.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.477646 m,
      nav range: 212.037857 m,
      bearing: 257.813028 deg,
      approach rate: -0.803973 m/s,
      LOS rate: 0.043956 deg/s,
      cmd heading: 247.225500 deg,
      new cmd heading: 247.272832 deg.

2025-06-27T19:41:55.670Z,1751053315.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315725 target range: 242.477646 and range: 244.70 m.
2025-06-27T19:41:55.845Z,1751053315.845 [DAT](INFO): DAT read: 19:41:53.6464 LVL= 26480, 32753, 29666, 32419, AGC= 68, IDX= 411, 0.08, 0.082,-1.237,-0.073,-0.922, PHS= 1.092,-0.268, 0.846, RAW= 140.2, -25.2, CAL= 145.0, -31.5, ROT=   5.0,  31.5

2025-06-27T19:41:55.846Z,1751053315.846 [DAT](INFO): got valid direction response:
 19:41:53.6464 LVL= 26480, 32753, 29666, 32419, AGC= 68, IDX= 411, 0.08, 0.082,-1.237,-0.073,-0.922, PHS= 1.092,-0.268, 0.846, RAW= 140.2, -25.2, CAL= 145.0, -31.5, ROT=   5.0,  31.5

2025-06-27T19:41:55.847Z,1751053315.847 [DAT](INFO): DAT read: Bearing   5.0,  31.5 (Local)

2025-06-27T19:41:55.848Z,1751053315.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  31.5 (Local)

2025-06-27T19:41:55.849Z,1751053315.849 [DAT](INFO): DAT read: Range 10 to 50 : 242.5 m  (Round-trip  323.4 ms) speed  0.7 m/s

2025-06-27T19:41:55.850Z,1751053315.850 [DAT](INFO): DAT read: user:2674>

2025-06-27T19:41:55.851Z,1751053315.851 [DAT](INFO): DAT read: Tx time:19:41:54.7689

2025-06-27T19:41:55.851Z,1751053315.851 [DAT](INFO): Ping request sent.
2025-06-27T19:41:55.851Z,1751053315.851 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:55.851Z,1751053315.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:55.852Z,1751053315.852 [DAT](INFO): direction in FSK: [0.849396,0.074312,-0.522499]
2025-06-27T19:41:55.853Z,1751053315.853 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:55.853Z,1751053315.853 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:55.856Z,1751053315.856 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:55.856Z,1751053315.856 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:56.070Z,1751053316.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.500000 m,
      deltaT: 3.780001 s,
      deltaX: -2.199997 m,
      approachRate: -0.582010 m/s,
      rangeRepo size: 4

2025-06-27T19:41:56.076Z,1751053316.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.297455 m,
      bearing: 254.412148 deg,
      lat: 36.906788 deg,
      lon: -122.116561 deg,
      deltaT: 3.780001 s,
      deltaX: -2.180191 m,
      approachRate: -0.576770 m/s,
      posRepo size: 4

2025-06-27T19:41:56.077Z,1751053316.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:56.084Z,1751053316.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 211.737457 m,
      bearing: 257.829463 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043956 deg/s,
      cmd heading: 247.272819 deg,
      new cmd heading: 247.328590 deg.

2025-06-27T19:41:56.085Z,1751053316.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.316698 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:56.092Z,1751053316.092 [DAT](INFO): DAT read: TxSync time:19:41:54.7681

2025-06-27T19:41:56.457Z,1751053316.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:56.460Z,1751053316.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 211.438812 m,
      bearing: 257.843460 deg,
      approach rate: -0.770727 m/s,
      LOS rate: 0.036172 deg/s,
      cmd heading: 247.328581 deg,
      new cmd heading: 247.370629 deg.

2025-06-27T19:41:56.461Z,1751053316.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317432 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:56.859Z,1751053316.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:56.861Z,1751053316.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:56.864Z,1751053316.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 211.143845 m,
      bearing: 257.857323 deg,
      approach rate: -0.728896 m/s,
      LOS rate: 0.034305 deg/s,
      cmd heading: 247.370628 deg,
      new cmd heading: 247.412275 deg.

2025-06-27T19:41:56.865Z,1751053316.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318159 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:57.099Z,1751053317.099 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:41:57.099Z,1751053317.099 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:41:57.099Z,1751053317.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:41:57.306Z,1751053317.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:57.313Z,1751053317.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 210.828995 m,
      bearing: 257.872269 deg,
      approach rate: -0.708175 m/s,
      LOS rate: 0.033667 deg/s,
      cmd heading: 247.412265 deg,
      new cmd heading: 247.457169 deg.

2025-06-27T19:41:57.314Z,1751053317.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.318943 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:57.351Z,1751053317.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500328
2025-06-27T19:41:57.605Z,1751053317.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753511
2025-06-27T19:41:57.705Z,1751053317.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:57.708Z,1751053317.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 210.502747 m,
      bearing: 257.887353 deg,
      approach rate: -0.818128 m/s,
      LOS rate: 0.037885 deg/s,
      cmd heading: 247.457180 deg,
      new cmd heading: 247.502502 deg.

2025-06-27T19:41:57.709Z,1751053317.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319734 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:57.855Z,1751053317.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004236
2025-06-27T19:41:58.055Z,1751053318.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:58.057Z,1751053318.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 210.241211 m,
      bearing: 257.899369 deg,
      approach rate: -0.748282 m/s,
      LOS rate: 0.034423 deg/s,
      cmd heading: 247.502505 deg,
      new cmd heading: 247.538599 deg.

2025-06-27T19:41:58.058Z,1751053318.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320364 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:58.107Z,1751053318.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256311
2025-06-27T19:41:58.360Z,1751053318.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508489
2025-06-27T19:41:58.491Z,1751053318.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:58.494Z,1751053318.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 209.914978 m,
      bearing: 257.912726 deg,
      approach rate: -0.747658 m/s,
      LOS rate: 0.030659 deg/s,
      cmd heading: 247.538596 deg,
      new cmd heading: 247.578729 deg.

2025-06-27T19:41:58.495Z,1751053318.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321064 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:58.611Z,1751053318.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760242
2025-06-27T19:41:58.863Z,1751053318.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012276
2025-06-27T19:41:58.870Z,1751053318.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:41:58.873Z,1751053318.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:58.876Z,1751053318.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 209.631241 m,
      bearing: 257.924377 deg,
      approach rate: -0.742987 m/s,
      LOS rate: 0.030549 deg/s,
      cmd heading: 247.578730 deg,
      new cmd heading: 247.613729 deg.

2025-06-27T19:41:58.877Z,1751053318.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321675 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:59.115Z,1751053319.115 [DAT](INFO): DAT read: Rx Time:19:41:57.4693

2025-06-27T19:41:59.116Z,1751053319.116 [DAT](INFO): Rx dataTimestamp_ set to:1751053319.115631
2025-06-27T19:41:59.116Z,1751053319.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265327
2025-06-27T19:41:59.318Z,1751053319.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:59.325Z,1751053319.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 209.335083 m,
      bearing: 257.936435 deg,
      approach rate: -0.667130 m/s,
      LOS rate: 0.027202 deg/s,
      cmd heading: 247.613728 deg,
      new cmd heading: 247.649955 deg.

2025-06-27T19:41:59.326Z,1751053319.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322307 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:59.368Z,1751053319.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516369
2025-06-27T19:41:59.625Z,1751053319.625 [DAT](INFO): DAT read: 19:41:57.4694 LVL= 22512, 27057, 24546, 32755, AGC= 69, IDX= 165, 0.13,-0.361,-1.647,-0.437,-1.399, PHS= 1.126,-0.201, 0.958, RAW= 143.3, -28.0, CAL= 147.6, -33.6, ROT=   2.4,  33.6

2025-06-27T19:41:59.630Z,1751053319.630 [DAT](INFO): got valid direction response:
 19:41:57.4694 LVL= 22512, 27057, 24546, 32755, AGC= 69, IDX= 165, 0.13,-0.361,-1.647,-0.437,-1.399, PHS= 1.126,-0.201, 0.958, RAW= 143.3, -28.0, CAL= 147.6, -33.6, ROT=   2.4,  33.6

2025-06-27T19:41:59.631Z,1751053319.631 [DAT](INFO): DAT read: Bearing   2.4,  33.6 (Local)

2025-06-27T19:41:59.632Z,1751053319.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  33.6 (Local)

2025-06-27T19:41:59.633Z,1751053319.633 [DAT](INFO): DAT read: Range 10 to 50 : 222.1 m  (Round-trip  296.2 ms) speed  0.4 m/s

2025-06-27T19:41:59.634Z,1751053319.634 [DAT](INFO): DAT read: user:2675>

2025-06-27T19:41:59.635Z,1751053319.635 [DAT](INFO): DAT read: Tx time:19:41:58.5690

2025-06-27T19:41:59.635Z,1751053319.635 [DAT](INFO): Ping request sent.
2025-06-27T19:41:59.636Z,1751053319.636 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:41:59.636Z,1751053319.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:41:59.637Z,1751053319.637 [DAT](INFO): direction in FSK: [0.832191,0.034879,-0.553392]
2025-06-27T19:41:59.637Z,1751053319.637 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:59.637Z,1751053319.637 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:59.641Z,1751053319.641 [DAT](INFO): publishing transmit ping time
2025-06-27T19:41:59.641Z,1751053319.641 [DAT](INFO): publishing direction and range info
2025-06-27T19:41:59.768Z,1751053319.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 222.100006 m,
 deltaT: 3.780006 s,
 deltaX: -20.399994 m,
 approachRate: -5.396815 m/s,
 rangeRepo size: 4
2025-06-27T19:41:59.769Z,1751053319.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:41:59.775Z,1751053319.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 208.982803 m,
      bearing: 257.947882 deg,
      approach rate: -0.781489 m/s,
      LOS rate: 0.025437 deg/s,
      cmd heading: 247.649955 deg,
      new cmd heading: 247.684355 deg.

2025-06-27T19:41:59.776Z,1751053319.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.322907 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:41:59.876Z,1751053319.876 [DAT](INFO): DAT read: TxSync time:19:41:58.5682

2025-06-27T19:42:00.079Z,1751053320.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:00.082Z,1751053320.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 208.733490 m,
      bearing: 257.956003 deg,
      approach rate: -0.799156 m/s,
      LOS rate: 0.026061 deg/s,
      cmd heading: 247.684352 deg,
      new cmd heading: 247.708742 deg.

2025-06-27T19:42:00.083Z,1751053320.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323333 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:00.513Z,1751053320.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:00.516Z,1751053320.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 208.418259 m,
      bearing: 257.967082 deg,
      approach rate: -0.726237 m/s,
      LOS rate: 0.025563 deg/s,
      cmd heading: 247.708749 deg,
      new cmd heading: 247.742037 deg.

2025-06-27T19:42:00.517Z,1751053320.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323914 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:00.879Z,1751053320.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:00.881Z,1751053320.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:00.883Z,1751053320.883 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:00.883Z,1751053320.883 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:00.884Z,1751053320.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:00.888Z,1751053320.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 208.150909 m,
      bearing: 257.976414 deg,
      approach rate: -0.726189 m/s,
      LOS rate: 0.025380 deg/s,
      cmd heading: 247.742026 deg,
      new cmd heading: 247.770058 deg.

2025-06-27T19:42:00.889Z,1751053320.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324403 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:01.135Z,1751053321.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499754
2025-06-27T19:42:01.352Z,1751053321.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:01.359Z,1751053321.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 207.858154 m,
      bearing: 257.986572 deg,
      approach rate: -0.629654 m/s,
      LOS rate: 0.021879 deg/s,
      cmd heading: 247.770057 deg,
      new cmd heading: 247.800575 deg.

2025-06-27T19:42:01.360Z,1751053321.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.324936 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:01.390Z,1751053321.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754597
2025-06-27T19:42:01.639Z,1751053321.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003828
2025-06-27T19:42:01.730Z,1751053321.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:01.737Z,1751053321.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 207.553406 m,
      bearing: 257.997277 deg,
      approach rate: -0.794383 m/s,
      LOS rate: 0.027946 deg/s,
      cmd heading: 247.800574 deg,
      new cmd heading: 247.832737 deg.

2025-06-27T19:42:01.738Z,1751053321.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.325497 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:01.891Z,1751053321.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255733
2025-06-27T19:42:02.104Z,1751053322.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:02.113Z,1751053322.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 207.279770 m,
      bearing: 258.006859 deg,
      approach rate: -0.731023 m/s,
      LOS rate: 0.025633 deg/s,
      cmd heading: 247.832731 deg,
      new cmd heading: 247.861516 deg.

2025-06-27T19:42:02.119Z,1751053322.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326000 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:02.144Z,1751053322.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507944
2025-06-27T19:42:02.395Z,1751053322.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759840
2025-06-27T19:42:02.496Z,1751053322.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:02.499Z,1751053322.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 206.990311 m,
      bearing: 258.016953 deg,
      approach rate: -0.738722 m/s,
      LOS rate: 0.025797 deg/s,
      cmd heading: 247.861527 deg,
      new cmd heading: 247.891852 deg.

2025-06-27T19:42:02.500Z,1751053322.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326529 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:02.647Z,1751053322.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011683
2025-06-27T19:42:02.900Z,1751053322.900 [DAT](INFO): DAT read: Rx Time:19:42:01.2661

2025-06-27T19:42:02.900Z,1751053322.900 [DAT](INFO): Rx dataTimestamp_ set to:1751053322.899722
2025-06-27T19:42:02.901Z,1751053322.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264987
2025-06-27T19:42:02.908Z,1751053322.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:02.910Z,1751053322.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:02.912Z,1751053322.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 206.696548 m,
      bearing: 258.027177 deg,
      approach rate: -0.710446 m/s,
      LOS rate: 0.024760 deg/s,
      cmd heading: 247.891853 deg,
      new cmd heading: 247.922567 deg.

2025-06-27T19:42:02.913Z,1751053322.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327065 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:03.151Z,1751053323.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515761
2025-06-27T19:42:03.378Z,1751053323.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.30 m.
2025-06-27T19:42:03.416Z,1751053323.416 [DAT](INFO): DAT read: 19:42:01.2661 LVL= 27312, 32737, 30834, 32755, AGC= 66, IDX= 150, 0.07, 0.343,-1.009,-0.094,-0.164, PHS= 0.595,-0.799, 0.067, RAW= 128.0,   2.3, CAL= 134.7,  -5.0, ROT=  15.3,   5.0

2025-06-27T19:42:03.417Z,1751053323.417 [DAT](INFO): got valid direction response:
 19:42:01.2661 LVL= 27312, 32737, 30834, 32755, AGC= 66, IDX= 150, 0.07, 0.343,-1.009,-0.094,-0.164, PHS= 0.595,-0.799, 0.067, RAW= 128.0,   2.3, CAL= 134.7,  -5.0, ROT=  15.3,   5.0

2025-06-27T19:42:03.418Z,1751053323.418 [DAT](INFO): DAT read: Bearing  15.3,   5.0 (Local)

2025-06-27T19:42:03.418Z,1751053323.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.3,   5.0 (Local)

2025-06-27T19:42:03.424Z,1751053323.424 [DAT](INFO): DAT read: Range 10 to 50 : 219.6 m  (Round-trip  292.9 ms) speed  0.7 m/s

2025-06-27T19:42:03.424Z,1751053323.424 [DAT](INFO): DAT read: user:2676>

2025-06-27T19:42:03.425Z,1751053323.425 [DAT](INFO): DAT read: Tx time:19:42:02.3690

2025-06-27T19:42:03.426Z,1751053323.426 [DAT](INFO): Ping request sent.
2025-06-27T19:42:03.426Z,1751053323.426 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:03.426Z,1751053323.426 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:03.427Z,1751053323.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.297455 m,
      nav range: 206.408951 m,
      bearing: 258.037169 deg,
      approach rate: -0.617801 m/s,
      LOS rate: 0.021495 deg/s,
      cmd heading: 247.922562 deg,
      new cmd heading: 247.952580 deg.

2025-06-27T19:42:03.428Z,1751053323.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.327589 target range: 240.297455 and range: 242.50 m.
2025-06-27T19:42:03.435Z,1751053323.435 [DAT](INFO): direction in FSK: [0.960887,0.262869,-0.087156]
2025-06-27T19:42:03.436Z,1751053323.436 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:03.436Z,1751053323.436 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:03.451Z,1751053323.451 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:03.451Z,1751053323.451 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:03.656Z,1751053323.656 [DAT](INFO): DAT read: TxSync time:19:42:02.3682

2025-06-27T19:42:03.883Z,1751053323.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.600006 m,
      deltaT: 7.565853 s,
      deltaX: -22.899994 m,
      approachRate: -3.026756 m/s,
      rangeRepo size: 4

2025-06-27T19:42:03.885Z,1751053323.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.605591 m,
      bearing: 263.036122 deg,
      lat: 36.906685 deg,
      lon: -122.116561 deg,
      deltaT: 7.565853 s,
      deltaX: -22.691864 m,
      approachRate: -2.999247 m/s,
      posRepo size: 4

2025-06-27T19:42:03.886Z,1751053323.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:03.889Z,1751053323.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 208.647125 m,
      bearing: 255.000547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021495 deg/s,
      cmd heading: 247.952587 deg,
      new cmd heading: 247.985293 deg.

2025-06-27T19:42:03.890Z,1751053323.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328160 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:04.192Z,1751053324.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:04.199Z,1751053324.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 208.426804 m,
      bearing: 255.004874 deg,
      approach rate: -0.711544 m/s,
      LOS rate: 0.013990 deg/s,
      cmd heading: 247.985290 deg,
      new cmd heading: 247.998286 deg.

2025-06-27T19:42:04.200Z,1751053324.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328387 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:04.664Z,1751053324.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:04.667Z,1751053324.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 208.085800 m,
      bearing: 255.013675 deg,
      approach rate: -0.724952 m/s,
      LOS rate: 0.018742 deg/s,
      cmd heading: 247.998295 deg,
      new cmd heading: 248.024742 deg.

2025-06-27T19:42:04.668Z,1751053324.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328848 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:05.030Z,1751053325.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:05.032Z,1751053325.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:05.039Z,1751053325.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 207.830505 m,
      bearing: 255.020166 deg,
      approach rate: -0.689736 m/s,
      LOS rate: 0.017558 deg/s,
      cmd heading: 248.024741 deg,
      new cmd heading: 248.044238 deg.

2025-06-27T19:42:05.040Z,1751053325.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329189 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:05.167Z,1751053325.167 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:05.167Z,1751053325.167 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:05.168Z,1751053325.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:05.419Z,1751053325.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993767
2025-06-27T19:42:05.449Z,1751053325.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:05.451Z,1751053325.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 207.521332 m,
      bearing: 255.027855 deg,
      approach rate: -0.743075 m/s,
      LOS rate: 0.018508 deg/s,
      cmd heading: 248.044248 deg,
      new cmd heading: 248.067350 deg.

2025-06-27T19:42:05.452Z,1751053325.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329592 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:05.672Z,1751053325.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245922
2025-06-27T19:42:05.810Z,1751053325.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:05.813Z,1751053325.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 207.274551 m,
      bearing: 255.033911 deg,
      approach rate: -0.722368 m/s,
      LOS rate: 0.017749 deg/s,
      cmd heading: 248.067362 deg,
      new cmd heading: 248.085552 deg.

2025-06-27T19:42:05.814Z,1751053325.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329910 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:05.924Z,1751053325.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498715
2025-06-27T19:42:06.176Z,1751053326.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749960
2025-06-27T19:42:06.184Z,1751053326.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:06.187Z,1751053326.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 206.991776 m,
      bearing: 255.040783 deg,
      approach rate: -0.718672 m/s,
      LOS rate: 0.017489 deg/s,
      cmd heading: 248.085557 deg,
      new cmd heading: 248.106201 deg.

2025-06-27T19:42:06.188Z,1751053326.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330270 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:06.430Z,1751053326.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003870
2025-06-27T19:42:06.618Z,1751053326.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:06.632Z,1751053326.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 206.689285 m,
      bearing: 255.048611 deg,
      approach rate: -0.697255 m/s,
      LOS rate: 0.018070 deg/s,
      cmd heading: 248.106212 deg,
      new cmd heading: 248.129730 deg.

2025-06-27T19:42:06.633Z,1751053326.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330681 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:06.682Z,1751053326.682 [DAT](INFO): DAT read: Rx Time:19:42:05.0634

2025-06-27T19:42:06.682Z,1751053326.682 [DAT](INFO): Rx dataTimestamp_ set to:1751053326.682202
2025-06-27T19:42:06.683Z,1751053326.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257393
2025-06-27T19:42:06.935Z,1751053326.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509709
2025-06-27T19:42:06.994Z,1751053326.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.61 m.
2025-06-27T19:42:06.998Z,1751053326.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.605591 m,
      nav range: 206.402557 m,
      bearing: 255.056053 deg,
      approach rate: -0.762321 m/s,
      LOS rate: 0.019812 deg/s,
      cmd heading: 248.129735 deg,
      new cmd heading: 248.152090 deg.

2025-06-27T19:42:07.000Z,1751053327.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331071 target range: 217.605591 and range: 219.60 m.
2025-06-27T19:42:07.212Z,1751053327.212 [DAT](INFO): DAT read: 19:42:05.0634 LVL= 27824, 32753, 26498, 32755, AGC= 66, IDX= 145, 0.41,-1.678, 3.130,-2.117,-2.220, PHS= 0.630,-0.886, 0.100, RAW= 129.9,   2.4, CAL= 136.1,  -5.1, ROT=  13.9,   5.1

2025-06-27T19:42:07.213Z,1751053327.213 [DAT](INFO): got valid direction response:
 19:42:05.0634 LVL= 27824, 32753, 26498, 32755, AGC= 66, IDX= 145, 0.41,-1.678, 3.130,-2.117,-2.220, PHS= 0.630,-0.886, 0.100, RAW= 129.9,   2.4, CAL= 136.1,  -5.1, ROT=  13.9,   5.1

2025-06-27T19:42:07.214Z,1751053327.214 [DAT](INFO): DAT read: Bearing  13.9,   5.1 (Local)

2025-06-27T19:42:07.215Z,1751053327.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.9,   5.1 (Local)

2025-06-27T19:42:07.216Z,1751053327.216 [DAT](INFO): DAT read: Range 10 to 50 : 217.7 m  (Round-trip  290.3 ms) speed  0.6 m/s

2025-06-27T19:42:07.217Z,1751053327.217 [DAT](INFO): DAT read: user:2677>

2025-06-27T19:42:07.218Z,1751053327.218 [DAT](INFO): DAT read: Tx time:19:42:06.1690

2025-06-27T19:42:07.218Z,1751053327.218 [DAT](INFO): Ping request sent.
2025-06-27T19:42:07.218Z,1751053327.218 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:07.219Z,1751053327.219 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:07.220Z,1751053327.220 [DAT](INFO): direction in FSK: [0.966873,0.239277,-0.088894]
2025-06-27T19:42:07.220Z,1751053327.220 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:07.220Z,1751053327.220 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:07.223Z,1751053327.223 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:07.224Z,1751053327.224 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:07.442Z,1751053327.442 [DAT](INFO): DAT read: TxSync time:19:42:06.1682

2025-06-27T19:42:07.476Z,1751053327.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 217.699997 m,
      deltaT: 3.784392 s,
      deltaX: -1.900009 m,
      approachRate: -0.502065 m/s,
      rangeRepo size: 4

2025-06-27T19:42:07.482Z,1751053327.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 215.723022 m,
      bearing: 262.090051 deg,
      lat: 36.906896 deg,
      lon: -122.116722 deg,
      deltaT: 3.784392 s,
      deltaX: -1.882568 m,
      approachRate: -0.497456 m/s,
      posRepo size: 4

2025-06-27T19:42:07.483Z,1751053327.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:07.486Z,1751053327.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 215.489944 m,
      bearing: 262.087219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019812 deg/s,
      cmd heading: 248.152083 deg,
      new cmd heading: 248.180725 deg.

2025-06-27T19:42:07.491Z,1751053327.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331571 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:07.831Z,1751053327.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:07.833Z,1751053327.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:07.836Z,1751053327.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 215.209778 m,
      bearing: 262.103793 deg,
      approach rate: -0.783643 m/s,
      LOS rate: 0.046420 deg/s,
      cmd heading: 248.180715 deg,
      new cmd heading: 248.230504 deg.

2025-06-27T19:42:07.837Z,1751053327.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332439 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:07.943Z,1751053327.943 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:07.943Z,1751053327.943 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:07.944Z,1751053327.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:08.195Z,1751053328.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977213
2025-06-27T19:42:08.210Z,1751053328.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:08.213Z,1751053328.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 214.948090 m,
      bearing: 262.119439 deg,
      approach rate: -0.724661 m/s,
      LOS rate: 0.043379 deg/s,
      cmd heading: 248.230494 deg,
      new cmd heading: 248.277489 deg.

2025-06-27T19:42:08.218Z,1751053328.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.333260 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:08.451Z,1751053328.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231706
2025-06-27T19:42:08.624Z,1751053328.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:08.627Z,1751053328.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 214.632401 m,
      bearing: 262.138465 deg,
      approach rate: -0.734374 m/s,
      LOS rate: 0.044325 deg/s,
      cmd heading: 248.277486 deg,
      new cmd heading: 248.334648 deg.

2025-06-27T19:42:08.628Z,1751053328.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334257 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:08.700Z,1751053328.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482033
2025-06-27T19:42:08.952Z,1751053328.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733338
2025-06-27T19:42:09.021Z,1751053329.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:09.025Z,1751053329.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 214.342010 m,
      bearing: 262.155947 deg,
      approach rate: -0.731800 m/s,
      LOS rate: 0.044115 deg/s,
      cmd heading: 248.334641 deg,
      new cmd heading: 248.387157 deg.

2025-06-27T19:42:09.027Z,1751053329.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335174 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:09.203Z,1751053329.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985133
2025-06-27T19:42:09.458Z,1751053329.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239349
2025-06-27T19:42:09.479Z,1751053329.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:09.482Z,1751053329.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 214.049042 m,
      bearing: 262.173496 deg,
      approach rate: -0.639084 m/s,
      LOS rate: 0.038333 deg/s,
      cmd heading: 248.387151 deg,
      new cmd heading: 248.439868 deg.

2025-06-27T19:42:09.484Z,1751053329.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336094 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:09.708Z,1751053329.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489824
2025-06-27T19:42:09.834Z,1751053329.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:09.837Z,1751053329.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:09.839Z,1751053329.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 213.742065 m,
      bearing: 262.190730 deg,
      approach rate: -0.859100 m/s,
      LOS rate: 0.048301 deg/s,
      cmd heading: 248.439880 deg,
      new cmd heading: 248.491658 deg.

2025-06-27T19:42:09.840Z,1751053329.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336998 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:09.959Z,1751053329.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741101
2025-06-27T19:42:10.212Z,1751053330.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993290
2025-06-27T19:42:10.216Z,1751053330.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:10.219Z,1751053330.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 213.467072 m,
      bearing: 262.206218 deg,
      approach rate: -0.724284 m/s,
      LOS rate: 0.040845 deg/s,
      cmd heading: 248.491653 deg,
      new cmd heading: 248.538176 deg.

2025-06-27T19:42:10.220Z,1751053330.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337810 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:10.467Z,1751053330.467 [DAT](INFO): DAT read: Rx Time:19:42:08.8590

2025-06-27T19:42:10.468Z,1751053330.468 [DAT](INFO): Rx dataTimestamp_ set to:1751053330.467093
2025-06-27T19:42:10.470Z,1751053330.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251177
2025-06-27T19:42:10.646Z,1751053330.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:10.649Z,1751053330.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 213.148987 m,
      bearing: 262.224471 deg,
      approach rate: -0.739985 m/s,
      LOS rate: 0.042526 deg/s,
      cmd heading: 248.538180 deg,
      new cmd heading: 248.593020 deg.

2025-06-27T19:42:10.650Z,1751053330.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338767 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:10.717Z,1751053330.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498019
2025-06-27T19:42:10.971Z,1751053330.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751743
2025-06-27T19:42:11.046Z,1751053331.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.72 m.
2025-06-27T19:42:11.049Z,1751053331.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.723022 m,
      nav range: 212.854050 m,
      bearing: 262.241396 deg,
      approach rate: -0.737258 m/s,
      LOS rate: 0.042367 deg/s,
      cmd heading: 248.593013 deg,
      new cmd heading: 248.643860 deg.

2025-06-27T19:42:11.070Z,1751053331.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339654 target range: 215.723022 and range: 217.70 m.
2025-06-27T19:42:11.226Z,1751053331.226 [DAT](INFO): DAT read: 19:42:08.8590 LVL= 22672, 32753, 24354, 32755, AGC= 60, IDX= 396, 0.38,-1.284,-2.992,-1.757,-1.874, PHS= 0.677,-1.072, 0.114, RAW= 131.6,   3.7, CAL= 137.6,  -3.5, ROT=  12.4,   3.5

2025-06-27T19:42:11.227Z,1751053331.227 [DAT](INFO): got valid direction response:
 19:42:08.8590 LVL= 22672, 32753, 24354, 32755, AGC= 60, IDX= 396, 0.38,-1.284,-2.992,-1.757,-1.874, PHS= 0.677,-1.072, 0.114, RAW= 131.6,   3.7, CAL= 137.6,  -3.5, ROT=  12.4,   3.5

2025-06-27T19:42:11.228Z,1751053331.228 [DAT](INFO): DAT read: Bearing  12.4,   3.5 (Local)

2025-06-27T19:42:11.228Z,1751053331.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4,   3.5 (Local)

2025-06-27T19:42:11.230Z,1751053331.230 [DAT](INFO): DAT read: Range 10 to 50 : 214.4 m  (Round-trip  285.9 ms) speed  0.8 m/s

2025-06-27T19:42:11.234Z,1751053331.234 [DAT](INFO): DAT read: user:2678>

2025-06-27T19:42:11.235Z,1751053331.235 [DAT](INFO): DAT read: Tx time:19:42:09.9690

2025-06-27T19:42:11.235Z,1751053331.235 [DAT](INFO): Ping request sent.
2025-06-27T19:42:11.235Z,1751053331.235 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:11.236Z,1751053331.236 [DAT](INFO): DAT read: TxSync time:19:42:09.9682

2025-06-27T19:42:11.236Z,1751053331.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:11.237Z,1751053331.237 [DAT](INFO): direction in FSK: [0.974851,0.214335,-0.061049]
2025-06-27T19:42:11.238Z,1751053331.238 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:11.238Z,1751053331.238 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:11.249Z,1751053331.249 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:11.250Z,1751053331.250 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:11.510Z,1751053331.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.399994 m,
      deltaT: 4.029769 s,
      deltaX: -3.300003 m,
      approachRate: -0.818906 m/s,
      rangeRepo size: 4

2025-06-27T19:42:11.516Z,1751053331.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 212.452667 m,
      bearing: 260.694969 deg,
      lat: 36.906845 deg,
      lon: -122.116711 deg,
      deltaT: 4.029769 s,
      deltaX: -3.270355 m,
      approachRate: -0.811549 m/s,
      posRepo size: 4

2025-06-27T19:42:11.519Z,1751053331.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:11.521Z,1751053331.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 212.445847 m,
      bearing: 260.695696 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042367 deg/s,
      cmd heading: 248.643857 deg,
      new cmd heading: 248.702666 deg.

2025-06-27T19:42:11.523Z,1751053331.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.340681 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:11.865Z,1751053331.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:11.867Z,1751053331.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:11.870Z,1751053331.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 212.127350 m,
      bearing: 260.710256 deg,
      approach rate: -0.889541 m/s,
      LOS rate: 0.040727 deg/s,
      cmd heading: 248.702679 deg,
      new cmd heading: 248.746425 deg.

2025-06-27T19:42:11.871Z,1751053331.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341444 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:11.975Z,1751053331.975 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:11.975Z,1751053331.975 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:11.976Z,1751053331.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:12.228Z,1751053332.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992401
2025-06-27T19:42:12.242Z,1751053332.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:12.245Z,1751053332.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 211.850143 m,
      bearing: 260.723051 deg,
      approach rate: -0.739539 m/s,
      LOS rate: 0.034178 deg/s,
      cmd heading: 248.746419 deg,
      new cmd heading: 248.784853 deg.

2025-06-27T19:42:12.246Z,1751053332.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342115 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:12.482Z,1751053332.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246473
2025-06-27T19:42:12.684Z,1751053332.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:12.691Z,1751053332.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 211.531891 m,
      bearing: 260.737051 deg,
      approach rate: -0.719900 m/s,
      LOS rate: 0.031716 deg/s,
      cmd heading: 248.784859 deg,
      new cmd heading: 248.826923 deg.

2025-06-27T19:42:12.692Z,1751053332.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342849 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:12.731Z,1751053332.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496305
2025-06-27T19:42:12.983Z,1751053332.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748267
2025-06-27T19:42:13.059Z,1751053333.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:13.062Z,1751053333.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 211.242432 m,
      bearing: 260.749584 deg,
      approach rate: -0.770812 m/s,
      LOS rate: 0.033422 deg/s,
      cmd heading: 248.826933 deg,
      new cmd heading: 248.864585 deg.

2025-06-27T19:42:13.063Z,1751053333.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.343506 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:13.235Z,1751053333.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000239
2025-06-27T19:42:13.459Z,1751053333.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:13.479Z,1751053333.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 210.947479 m,
      bearing: 260.762295 deg,
      approach rate: -0.738999 m/s,
      LOS rate: 0.031890 deg/s,
      cmd heading: 248.864581 deg,
      new cmd heading: 248.902766 deg.

2025-06-27T19:42:13.490Z,1751053333.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254514
2025-06-27T19:42:13.492Z,1751053333.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344173 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:13.740Z,1751053333.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504404
2025-06-27T19:42:13.876Z,1751053333.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:13.878Z,1751053333.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:13.881Z,1751053333.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 210.643280 m,
      bearing: 260.776196 deg,
      approach rate: -0.725208 m/s,
      LOS rate: 0.033188 deg/s,
      cmd heading: 248.902776 deg,
      new cmd heading: 248.944539 deg.

2025-06-27T19:42:13.882Z,1751053333.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344902 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:13.992Z,1751053333.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757064
2025-06-27T19:42:14.243Z,1751053334.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008355
2025-06-27T19:42:14.263Z,1751053334.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:14.265Z,1751053334.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 210.363602 m,
      bearing: 260.788955 deg,
      approach rate: -0.727471 m/s,
      LOS rate: 0.033231 deg/s,
      cmd heading: 248.944549 deg,
      new cmd heading: 248.982877 deg.

2025-06-27T19:42:14.266Z,1751053334.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345571 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:14.498Z,1751053334.498 [DAT](INFO): DAT read: Rx Time:19:42:12.6809

2025-06-27T19:42:14.500Z,1751053334.500 [DAT](INFO): Rx dataTimestamp_ set to:1751053334.498899
2025-06-27T19:42:14.501Z,1751053334.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265847
2025-06-27T19:42:14.700Z,1751053334.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.45 m.
2025-06-27T19:42:14.703Z,1751053334.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.452667 m,
      nav range: 210.046021 m,
      bearing: 260.803751 deg,
      approach rate: -0.725504 m/s,
      LOS rate: 0.033853 deg/s,
      cmd heading: 248.982880 deg,
      new cmd heading: 249.027336 deg.

2025-06-27T19:42:14.704Z,1751053334.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346347 target range: 212.452667 and range: 214.40 m.
2025-06-27T19:42:14.748Z,1751053334.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512964
2025-06-27T19:42:15.012Z,1751053335.012 [DAT](INFO): DAT read: 19:42:12.6810 LVL= 19184, 23873, 21570, 26867, AGC= 68, IDX= 155,-0.13, 1.643, 0.418, 1.699, 0.465, PHS= 1.266, 0.000, 1.231, RAW= 148.6, -35.3, CAL= 151.0, -39.8, ROT= 359.0,  39.8

2025-06-27T19:42:15.013Z,1751053335.013 [DAT](INFO): got valid direction response:
 19:42:12.6810 LVL= 19184, 23873, 21570, 26867, AGC= 68, IDX= 155,-0.13, 1.643, 0.418, 1.699, 0.465, PHS= 1.266, 0.000, 1.231, RAW= 148.6, -35.3, CAL= 151.0, -39.8, ROT= 359.0,  39.8

2025-06-27T19:42:15.015Z,1751053335.015 [DAT](INFO): DAT read: Bearing 359.0,  39.8 (Local)

2025-06-27T19:42:15.016Z,1751053335.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.0,  39.8 (Local)

2025-06-27T19:42:15.018Z,1751053335.018 [DAT](INFO): DAT read: Range 10 to 50 : 230.8 m  (Round-trip  307.8 ms) speed  0.3 m/s

2025-06-27T19:42:15.019Z,1751053335.019 [DAT](INFO): DAT read: user:2679>

2025-06-27T19:42:15.020Z,1751053335.020 [DAT](INFO): DAT read: Tx time:19:42:13.7691

2025-06-27T19:42:15.021Z,1751053335.021 [DAT](INFO): Ping request sent.
2025-06-27T19:42:15.021Z,1751053335.021 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:15.022Z,1751053335.022 [DAT](INFO): DAT read: TxSync time:19:42:13.7683

2025-06-27T19:42:15.023Z,1751053335.023 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:15.024Z,1751053335.024 [DAT](INFO): direction in FSK: [0.768167,-0.013409,-0.640110]
2025-06-27T19:42:15.025Z,1751053335.025 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:15.025Z,1751053335.025 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:15.029Z,1751053335.029 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:15.029Z,1751053335.029 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:15.136Z,1751053335.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 230.800003 m,
      deltaT: 3.783604 s,
      deltaX: 16.400009 m,
      approachRate: 4.334494 m/s,
      rangeRepo size: 4

2025-06-27T19:42:15.143Z,1751053335.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.703659 m,
      bearing: 251.347874 deg,
      lat: 36.906845 deg,
      lon: -122.116711 deg,
      deltaT: 3.783604 s,
      deltaX: 16.250992 m,
      approachRate: 4.295109 m/s,
      posRepo size: 4

2025-06-27T19:42:15.143Z,1751053335.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:15.146Z,1751053335.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 209.754288 m,
      bearing: 260.817318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033853 deg/s,
      cmd heading: 249.027331 deg,
      new cmd heading: 249.071568 deg.

2025-06-27T19:42:15.155Z,1751053335.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347119 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:15.487Z,1751053335.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:15.490Z,1751053335.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 209.490509 m,
      bearing: 260.829634 deg,
      approach rate: -0.750156 m/s,
      LOS rate: 0.035068 deg/s,
      cmd heading: 249.071563 deg,
      new cmd heading: 249.108556 deg.

2025-06-27T19:42:15.501Z,1751053335.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347764 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:15.895Z,1751053335.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:15.897Z,1751053335.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:15.901Z,1751053335.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 209.177078 m,
      bearing: 260.843917 deg,
      approach rate: -0.764900 m/s,
      LOS rate: 0.034910 deg/s,
      cmd heading: 249.108556 deg,
      new cmd heading: 249.151470 deg.

2025-06-27T19:42:15.902Z,1751053335.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348514 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:16.008Z,1751053336.008 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:16.008Z,1751053336.008 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:16.008Z,1751053336.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:16.259Z,1751053336.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238140
2025-06-27T19:42:16.393Z,1751053336.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:16.396Z,1751053336.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 208.814804 m,
      bearing: 260.860477 deg,
      approach rate: -0.729962 m/s,
      LOS rate: 0.033424 deg/s,
      cmd heading: 249.151477 deg,
      new cmd heading: 249.201241 deg.

2025-06-27T19:42:16.397Z,1751053336.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349382 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:16.512Z,1751053336.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490780
2025-06-27T19:42:16.763Z,1751053336.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742403
2025-06-27T19:42:16.771Z,1751053336.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:16.780Z,1751053336.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 208.545486 m,
      bearing: 260.872203 deg,
      approach rate: -0.722704 m/s,
      LOS rate: 0.031507 deg/s,
      cmd heading: 249.201228 deg,
      new cmd heading: 249.236451 deg.

2025-06-27T19:42:16.782Z,1751053336.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349997 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:17.024Z,1751053337.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002468
2025-06-27T19:42:17.173Z,1751053337.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:17.177Z,1751053337.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 208.247177 m,
      bearing: 260.885226 deg,
      approach rate: -0.760386 m/s,
      LOS rate: 0.033245 deg/s,
      cmd heading: 249.236444 deg,
      new cmd heading: 249.275571 deg.

2025-06-27T19:42:17.178Z,1751053337.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350679 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:17.268Z,1751053337.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246591
2025-06-27T19:42:17.519Z,1751053337.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498308
2025-06-27T19:42:17.610Z,1751053337.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:17.617Z,1751053337.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 207.917908 m,
      bearing: 260.899476 deg,
      approach rate: -0.729040 m/s,
      LOS rate: 0.031601 deg/s,
      cmd heading: 249.275567 deg,
      new cmd heading: 249.318385 deg.

2025-06-27T19:42:17.618Z,1751053337.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351427 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:17.771Z,1751053337.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750258
2025-06-27T19:42:17.958Z,1751053337.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:17.960Z,1751053337.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:17.963Z,1751053337.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 207.655441 m,
      bearing: 260.911936 deg,
      approach rate: -0.749812 m/s,
      LOS rate: 0.035639 deg/s,
      cmd heading: 249.318379 deg,
      new cmd heading: 249.355804 deg.

2025-06-27T19:42:17.964Z,1751053337.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352080 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:18.024Z,1751053338.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003162
2025-06-27T19:42:18.276Z,1751053338.276 [DAT](INFO): DAT read: Rx Time:19:42:16.4788

2025-06-27T19:42:18.276Z,1751053338.276 [DAT](INFO): Rx dataTimestamp_ set to:1751053338.275778
2025-06-27T19:42:18.277Z,1751053338.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255549
2025-06-27T19:42:18.336Z,1751053338.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:18.355Z,1751053338.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 207.378906 m,
      bearing: 260.925031 deg,
      approach rate: -0.735166 m/s,
      LOS rate: 0.034859 deg/s,
      cmd heading: 249.355809 deg,
      new cmd heading: 249.395146 deg.

2025-06-27T19:42:18.356Z,1751053338.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352767 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:18.527Z,1751053338.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506173
2025-06-27T19:42:18.759Z,1751053338.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.70 m.
2025-06-27T19:42:18.762Z,1751053338.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.703659 m,
      nav range: 207.071976 m,
      bearing: 260.940718 deg,
      approach rate: -0.726085 m/s,
      LOS rate: 0.037165 deg/s,
      cmd heading: 249.395150 deg,
      new cmd heading: 249.442281 deg.

2025-06-27T19:42:18.763Z,1751053338.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.353589 target range: 228.703659 and range: 230.80 m.
2025-06-27T19:42:18.803Z,1751053338.803 [DAT](INFO): DAT read: 19:42:16.4788 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 151, 0.12,-0.556,-2.094,-1.010,-1.141, PHS= 0.673,-0.906, 0.128, RAW= 130.1,   1.5, CAL= 136.3,  -6.4, ROT=  13.7,   6.4

2025-06-27T19:42:18.804Z,1751053338.804 [DAT](INFO): got valid direction response:
 19:42:16.4788 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 151, 0.12,-0.556,-2.094,-1.010,-1.141, PHS= 0.673,-0.906, 0.128, RAW= 130.1,   1.5, CAL= 136.3,  -6.4, ROT=  13.7,   6.4

2025-06-27T19:42:18.806Z,1751053338.806 [DAT](INFO): DAT read: Bearing  13.7,   6.4 (Local)

2025-06-27T19:42:18.811Z,1751053338.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.7,   6.4 (Local)

2025-06-27T19:42:18.813Z,1751053338.813 [DAT](INFO): DAT read: Range 10 to 50 : 229.1 m  (Round-trip  305.5 ms) speed  0.7 m/s

2025-06-27T19:42:18.819Z,1751053338.819 [DAT](INFO): DAT read: user:2680>

2025-06-27T19:42:18.820Z,1751053338.820 [DAT](INFO): DAT read: Tx time:19:42:17.5691

2025-06-27T19:42:18.821Z,1751053338.821 [DAT](INFO): Ping request sent.
2025-06-27T19:42:18.821Z,1751053338.821 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:18.822Z,1751053338.822 [DAT](INFO): DAT read: TxSync time:19:42:17.5683

2025-06-27T19:42:18.822Z,1751053338.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:18.840Z,1751053338.840 [DAT](INFO): direction in FSK: [0.965494,0.235362,-0.111469]
2025-06-27T19:42:18.840Z,1751053338.840 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:18.840Z,1751053338.840 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:18.860Z,1751053338.860 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:18.860Z,1751053338.860 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:19.160Z,1751053339.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.100006 m,
      deltaT: 3.778194 s,
      deltaX: -1.699997 m,
      approachRate: -0.449950 m/s,
      rangeRepo size: 4

2025-06-27T19:42:19.167Z,1751053339.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 227.019104 m,
      bearing: 262.896982 deg,
      lat: 36.906885 deg,
      lon: -122.116722 deg,
      deltaT: 3.778194 s,
      deltaX: -1.684555 m,
      approachRate: -0.445863 m/s,
      posRepo size: 4

2025-06-27T19:42:19.167Z,1751053339.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:19.170Z,1751053339.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 207.107697 m,
      bearing: 262.222619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037165 deg/s,
      cmd heading: 249.442279 deg,
      new cmd heading: 249.486965 deg.

2025-06-27T19:42:19.175Z,1751053339.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354369 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:19.531Z,1751053339.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:19.534Z,1751053339.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 206.822113 m,
      bearing: 262.239062 deg,
      approach rate: -0.770381 m/s,
      LOS rate: 0.044416 deg/s,
      cmd heading: 249.486976 deg,
      new cmd heading: 249.536371 deg.

2025-06-27T19:42:19.557Z,1751053339.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355231 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:19.965Z,1751053339.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:19.967Z,1751053339.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:19.970Z,1751053339.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 206.504959 m,
      bearing: 262.257054 deg,
      approach rate: -0.725944 m/s,
      LOS rate: 0.041247 deg/s,
      cmd heading: 249.536371 deg,
      new cmd heading: 249.590432 deg.

2025-06-27T19:42:19.971Z,1751053339.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356175 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:20.040Z,1751053340.040 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:20.040Z,1751053340.040 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:20.040Z,1751053340.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:20.291Z,1751053340.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470448
2025-06-27T19:42:20.338Z,1751053340.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:20.341Z,1751053340.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 206.234695 m,
      bearing: 262.272368 deg,
      approach rate: -0.728668 m/s,
      LOS rate: 0.041340 deg/s,
      cmd heading: 249.590439 deg,
      new cmd heading: 249.636439 deg.

2025-06-27T19:42:20.342Z,1751053340.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.356978 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:20.546Z,1751053340.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725544
2025-06-27T19:42:20.780Z,1751053340.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:20.783Z,1751053340.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 205.925659 m,
      bearing: 262.290109 deg,
      approach rate: -0.699082 m/s,
      LOS rate: 0.040193 deg/s,
      cmd heading: 249.636447 deg,
      new cmd heading: 249.689750 deg.

2025-06-27T19:42:20.784Z,1751053340.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357908 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:20.795Z,1751053340.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974539
2025-06-27T19:42:20.923Z,1751053340.923 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:42:21.048Z,1751053341.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226729
2025-06-27T19:42:21.154Z,1751053341.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:21.157Z,1751053341.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 205.664032 m,
      bearing: 262.304890 deg,
      approach rate: -0.699989 m/s,
      LOS rate: 0.039599 deg/s,
      cmd heading: 249.689750 deg,
      new cmd heading: 249.734151 deg.

2025-06-27T19:42:21.158Z,1751053341.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358683 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:21.300Z,1751053341.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479080
2025-06-27T19:42:21.551Z,1751053341.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730570
2025-06-27T19:42:21.560Z,1751053341.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:21.579Z,1751053341.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 205.380875 m,
      bearing: 262.320789 deg,
      approach rate: -0.696991 m/s,
      LOS rate: 0.039188 deg/s,
      cmd heading: 249.734146 deg,
      new cmd heading: 249.781908 deg.

2025-06-27T19:42:21.580Z,1751053341.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359517 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:21.803Z,1751053341.803 [DAT](INFO): DAT read: Rx Time:19:42:20.2486

2025-06-27T19:42:21.804Z,1751053341.804 [DAT](INFO): Rx dataTimestamp_ set to:1751053341.803632
2025-06-27T19:42:21.804Z,1751053341.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983605
2025-06-27T19:42:21.923Z,1751053341.923 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:42:21.978Z,1751053341.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:21.980Z,1751053341.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:21.983Z,1751053341.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 205.083359 m,
      bearing: 262.336430 deg,
      approach rate: -0.708058 m/s,
      LOS rate: 0.037279 deg/s,
      cmd heading: 249.781903 deg,
      new cmd heading: 249.828895 deg.

2025-06-27T19:42:21.984Z,1751053341.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.360337 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:22.056Z,1751053342.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234953
2025-06-27T19:42:22.307Z,1751053342.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486431
2025-06-27T19:42:22.427Z,1751053342.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:22.433Z,1751053342.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 204.774002 m,
      bearing: 262.352626 deg,
      approach rate: -0.692862 m/s,
      LOS rate: 0.036328 deg/s,
      cmd heading: 249.828895 deg,
      new cmd heading: 249.877556 deg.

2025-06-27T19:42:22.434Z,1751053342.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361186 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:22.565Z,1751053342.565 [DAT](INFO): DAT read: 19:42:20.2486 LVL= 17072, 21745, 22450, 21619, AGC= 68, IDX= 130, 0.24, 2.388, 1.015, 2.450, 1.320, PHS= 1.156,-0.258, 1.127, RAW= 149.0, -27.1, CAL= 152.9, -33.1, ROT= 357.1,  33.1

2025-06-27T19:42:22.576Z,1751053342.576 [DAT](INFO): got valid direction response:
 19:42:20.2486 LVL= 17072, 21745, 22450, 21619, AGC= 68, IDX= 130, 0.24, 2.388, 1.015, 2.450, 1.320, PHS= 1.156,-0.258, 1.127, RAW= 149.0, -27.1, CAL= 152.9, -33.1, ROT= 357.1,  33.1

2025-06-27T19:42:22.577Z,1751053342.577 [DAT](INFO): DAT read: Bearing 357.1,  33.1 (Local)

2025-06-27T19:42:22.578Z,1751053342.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.1,  33.1 (Local)

2025-06-27T19:42:22.579Z,1751053342.579 [DAT](INFO): DAT read: Range 10 to 50 : 206.4 m  (Round-trip  275.3 ms) speed  0.7 m/s

2025-06-27T19:42:22.580Z,1751053342.580 [DAT](INFO): DAT read: user:2681>

2025-06-27T19:42:22.581Z,1751053342.581 [DAT](INFO): DAT read: Tx time:19:42:21.3691

2025-06-27T19:42:22.581Z,1751053342.581 [DAT](INFO): Ping request sent.
2025-06-27T19:42:22.581Z,1751053342.581 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:22.582Z,1751053342.582 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:22.584Z,1751053342.584 [DAT](INFO): direction in FSK: [0.836646,-0.042383,-0.546102]
2025-06-27T19:42:22.584Z,1751053342.584 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:22.584Z,1751053342.584 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:22.592Z,1751053342.592 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:22.592Z,1751053342.592 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:22.812Z,1751053342.812 [DAT](INFO): DAT read: TxSync time:19:42:21.3683

2025-06-27T19:42:22.839Z,1751053342.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 206.399994 m,
 deltaT: 3.778455 s,
 deltaX: -22.700012 m,
 approachRate: -6.007750 m/s,
 rangeRepo size: 4
2025-06-27T19:42:22.839Z,1751053342.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:22.842Z,1751053342.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 204.494904 m,
      bearing: 262.367059 deg,
      approach rate: -0.686312 m/s,
      LOS rate: 0.035540 deg/s,
      cmd heading: 249.877553 deg,
      new cmd heading: 249.920912 deg.

2025-06-27T19:42:22.847Z,1751053342.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361943 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:23.167Z,1751053343.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:23.170Z,1751053343.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 204.250580 m,
      bearing: 262.379730 deg,
      approach rate: -0.732122 m/s,
      LOS rate: 0.038015 deg/s,
      cmd heading: 249.920911 deg,
      new cmd heading: 249.958971 deg.

2025-06-27T19:42:23.171Z,1751053343.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362607 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:23.603Z,1751053343.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:23.605Z,1751053343.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 203.949020 m,
      bearing: 262.395412 deg,
      approach rate: -0.693213 m/s,
      LOS rate: 0.036102 deg/s,
      cmd heading: 249.958969 deg,
      new cmd heading: 250.006084 deg.

2025-06-27T19:42:23.606Z,1751053343.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.363430 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:23.997Z,1751053343.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:24.000Z,1751053344.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:24.021Z,1751053344.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 203.671066 m,
      bearing: 262.408909 deg,
      approach rate: -0.698416 m/s,
      LOS rate: 0.033958 deg/s,
      cmd heading: 250.006097 deg,
      new cmd heading: 250.046641 deg.

2025-06-27T19:42:24.022Z,1751053344.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364137 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:24.072Z,1751053344.072 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:24.072Z,1751053344.072 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:24.073Z,1751053344.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:24.323Z,1751053344.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741962
2025-06-27T19:42:24.399Z,1751053344.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:24.402Z,1751053344.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 203.399277 m,
      bearing: 262.422002 deg,
      approach rate: -0.681081 m/s,
      LOS rate: 0.032854 deg/s,
      cmd heading: 250.046641 deg,
      new cmd heading: 250.085973 deg.

2025-06-27T19:42:24.407Z,1751053344.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364824 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:24.575Z,1751053344.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993865
2025-06-27T19:42:24.827Z,1751053344.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246047
2025-06-27T19:42:24.835Z,1751053344.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:24.838Z,1751053344.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 203.095581 m,
      bearing: 262.436023 deg,
      approach rate: -0.696593 m/s,
      LOS rate: 0.032210 deg/s,
      cmd heading: 250.085983 deg,
      new cmd heading: 250.128112 deg.

2025-06-27T19:42:24.847Z,1751053344.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365559 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:25.079Z,1751053345.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497988
2025-06-27T19:42:25.189Z,1751053345.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:25.192Z,1751053345.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 202.824814 m,
      bearing: 262.448486 deg,
      approach rate: -0.765757 m/s,
      LOS rate: 0.035293 deg/s,
      cmd heading: 250.128112 deg,
      new cmd heading: 250.165550 deg.

2025-06-27T19:42:25.193Z,1751053345.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366212 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:25.332Z,1751053345.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750620
2025-06-27T19:42:25.583Z,1751053345.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002044
2025-06-27T19:42:25.609Z,1751053345.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:25.617Z,1751053345.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 202.536774 m,
      bearing: 262.461725 deg,
      approach rate: -0.686003 m/s,
      LOS rate: 0.031574 deg/s,
      cmd heading: 250.165541 deg,
      new cmd heading: 250.205313 deg.

2025-06-27T19:42:25.618Z,1751053345.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366907 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:25.835Z,1751053345.835 [DAT](INFO): DAT read: Rx Time:19:42:24.0463

2025-06-27T19:42:25.836Z,1751053345.836 [DAT](INFO): Rx dataTimestamp_ set to:1751053345.835655
2025-06-27T19:42:25.836Z,1751053345.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255098
2025-06-27T19:42:26.033Z,1751053346.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:26.035Z,1751053346.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:26.038Z,1751053346.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 202.215668 m,
      bearing: 262.476645 deg,
      approach rate: -0.752879 m/s,
      LOS rate: 0.035038 deg/s,
      cmd heading: 250.205320 deg,
      new cmd heading: 250.250151 deg.

2025-06-27T19:42:26.055Z,1751053346.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367689 target range: 227.019104 and range: 229.10 m.
2025-06-27T19:42:26.088Z,1751053346.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506175
2025-06-27T19:42:26.340Z,1751053346.340 [DAT](INFO): DAT read: Range 10 to 50 : 204.7 m  (Round-trip  273.0 ms) speed  0.3 m/s

2025-06-27T19:42:26.341Z,1751053346.341 [DAT](INFO): DAT read: user:2682>

2025-06-27T19:42:26.342Z,1751053346.342 [DAT](INFO): DAT read: Tx time:19:42:25.1192

2025-06-27T19:42:26.342Z,1751053346.342 [DAT](INFO): Ping request sent.
2025-06-27T19:42:26.342Z,1751053346.342 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:26.343Z,1751053346.343 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:42:26.343Z,1751053346.343 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:26.344Z,1751053346.344 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:26.435Z,1751053346.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 204.699997 m,
      deltaT: 7.558228 s,
      deltaX: -24.400009 m,
      approachRate: -3.228271 m/s,
      rangeRepo size: 4

2025-06-27T19:42:26.436Z,1751053346.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:26.445Z,1751053346.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 201.935837 m,
      bearing: 262.489657 deg,
      approach rate: -0.708194 m/s,
      LOS rate: 0.032976 deg/s,
      cmd heading: 250.250154 deg,
      new cmd heading: 250.289244 deg.

2025-06-27T19:42:26.451Z,1751053346.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368371 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:26.592Z,1751053346.592 [DAT](INFO): DAT read: TxSync time:19:42:25.1184

2025-06-27T19:42:26.830Z,1751053346.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:26.833Z,1751053346.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 201.627335 m,
      bearing: 262.505714 deg,
      approach rate: -0.772265 m/s,
      LOS rate: 0.040258 deg/s,
      cmd heading: 250.289250 deg,
      new cmd heading: 250.337495 deg.

2025-06-27T19:42:26.834Z,1751053346.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.369214 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:27.226Z,1751053347.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:27.229Z,1751053347.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 201.330246 m,
      bearing: 262.521225 deg,
      approach rate: -0.749945 m/s,
      LOS rate: 0.039211 deg/s,
      cmd heading: 250.337498 deg,
      new cmd heading: 250.384098 deg.

2025-06-27T19:42:27.230Z,1751053347.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370027 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:27.641Z,1751053347.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:27.644Z,1751053347.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 201.022079 m,
      bearing: 262.537364 deg,
      approach rate: -0.743195 m/s,
      LOS rate: 0.038982 deg/s,
      cmd heading: 250.384107 deg,
      new cmd heading: 250.432598 deg.

2025-06-27T19:42:27.645Z,1751053347.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370873 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:28.174Z,1751053348.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:28.176Z,1751053348.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:28.179Z,1751053348.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 200.620346 m,
      bearing: 262.560633 deg,
      approach rate: -0.750271 m/s,
      LOS rate: 0.043544 deg/s,
      cmd heading: 250.432602 deg,
      new cmd heading: 250.502549 deg.

2025-06-27T19:42:28.180Z,1751053348.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372094 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:28.355Z,1751053348.355 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:28.355Z,1751053348.355 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:28.355Z,1751053348.355 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:28.523Z,1751053348.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:28.525Z,1751053348.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 200.370590 m,
      bearing: 262.575020 deg,
      approach rate: -0.730110 m/s,
      LOS rate: 0.042108 deg/s,
      cmd heading: 250.502543 deg,
      new cmd heading: 250.545756 deg.

2025-06-27T19:42:28.530Z,1751053348.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372849 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:28.608Z,1751053348.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265235
2025-06-27T19:42:28.859Z,1751053348.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516837
2025-06-27T19:42:28.932Z,1751053348.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:28.935Z,1751053348.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 200.060562 m,
      bearing: 262.595251 deg,
      approach rate: -0.748907 m/s,
      LOS rate: 0.048946 deg/s,
      cmd heading: 250.545764 deg,
      new cmd heading: 250.606552 deg.

2025-06-27T19:42:28.936Z,1751053348.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373909 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:29.111Z,1751053349.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768766
2025-06-27T19:42:29.314Z,1751053349.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:29.317Z,1751053349.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 199.779877 m,
      bearing: 262.613583 deg,
      approach rate: -0.735867 m/s,
      LOS rate: 0.048129 deg/s,
      cmd heading: 250.606553 deg,
      new cmd heading: 250.661627 deg.

2025-06-27T19:42:29.317Z,1751053349.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.374871 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:29.365Z,1751053349.365 [DAT](INFO): DAT read: Rx Time:19:42:27.7919

2025-06-27T19:42:29.365Z,1751053349.365 [DAT](INFO): Rx dataTimestamp_ set to:1751053349.364790
2025-06-27T19:42:29.366Z,1751053349.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023484
2025-06-27T19:42:29.615Z,1751053349.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272853
2025-06-27T19:42:29.772Z,1751053349.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 227.02 m.
2025-06-27T19:42:29.779Z,1751053349.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 227.019104 m,
      nav range: 199.483612 m,
      bearing: 262.632962 deg,
      approach rate: -0.654358 m/s,
      LOS rate: 0.042865 deg/s,
      cmd heading: 250.661631 deg,
      new cmd heading: 250.719854 deg.

2025-06-27T19:42:29.780Z,1751053349.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375887 target range: 227.019104 and range: 204.70 m.
2025-06-27T19:42:29.867Z,1751053349.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524818
2025-06-27T19:42:30.127Z,1751053350.127 [DAT](INFO): DAT read: 19:42:27.7919 LVL= 29856, 32753, 29922, 32755, AGC= 66, IDX= 122,-0.23,-2.646, 1.982,-3.091, 3.018, PHS= 0.708,-0.989, 0.172, RAW= 132.0,   1.5, CAL= 137.8,  -6.7, ROT=  12.2,   6.7

2025-06-27T19:42:30.129Z,1751053350.129 [DAT](INFO): got valid direction response:
 19:42:27.7919 LVL= 29856, 32753, 29922, 32755, AGC= 66, IDX= 122,-0.23,-2.646, 1.982,-3.091, 3.018, PHS= 0.708,-0.989, 0.172, RAW= 132.0,   1.5, CAL= 137.8,  -6.7, ROT=  12.2,   6.7

2025-06-27T19:42:30.130Z,1751053350.130 [DAT](INFO): DAT read: Bearing  12.2,   6.7 (Local)

2025-06-27T19:42:30.130Z,1751053350.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,   6.7 (Local)

2025-06-27T19:42:30.132Z,1751053350.132 [DAT](INFO): DAT read: Range 10 to 50 : 201.4 m  (Round-trip  268.6 ms) speed  0.4 m/s

2025-06-27T19:42:30.133Z,1751053350.133 [DAT](INFO): DAT read: user:2683>

2025-06-27T19:42:30.133Z,1751053350.133 [DAT](INFO): DAT read: Tx time:19:42:28.9192

2025-06-27T19:42:30.134Z,1751053350.134 [DAT](INFO): Ping request sent.
2025-06-27T19:42:30.134Z,1751053350.134 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:30.134Z,1751053350.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:30.140Z,1751053350.140 [DAT](INFO): direction in FSK: [0.970741,0.209882,-0.116671]
2025-06-27T19:42:30.141Z,1751053350.141 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:30.141Z,1751053350.141 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:30.144Z,1751053350.144 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:30.144Z,1751053350.144 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:30.350Z,1751053350.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 201.399994 m,
      deltaT: 3.779960 s,
      deltaX: -3.300003 m,
      approachRate: -0.873026 m/s,
      rangeRepo size: 4

2025-06-27T19:42:30.356Z,1751053350.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.570068 m,
      bearing: 262.554774 deg,
      lat: 36.906845 deg,
      lon: -122.116711 deg,
      deltaT: 11.338188 s,
      deltaX: -27.449036 m,
      approachRate: -2.420937 m/s,
      posRepo size: 4

2025-06-27T19:42:30.357Z,1751053350.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:30.364Z,1751053350.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 198.709259 m,
      bearing: 261.343810 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042865 deg/s,
      cmd heading: 250.719852 deg,
      new cmd heading: 250.794779 deg.

2025-06-27T19:42:30.365Z,1751053350.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377195 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:30.372Z,1751053350.372 [DAT](INFO): DAT read: TxSync time:19:42:28.9184

2025-06-27T19:42:30.872Z,1751053350.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:30.874Z,1751053350.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:30.875Z,1751053350.875 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:30.875Z,1751053350.875 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:30.876Z,1751053350.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:30.880Z,1751053350.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 198.290756 m,
      bearing: 261.367907 deg,
      approach rate: -0.797376 m/s,
      LOS rate: 0.046009 deg/s,
      cmd heading: 250.794793 deg,
      new cmd heading: 250.867236 deg.

2025-06-27T19:42:30.881Z,1751053350.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378459 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:31.127Z,1751053351.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993667
2025-06-27T19:42:31.291Z,1751053351.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:31.293Z,1751053351.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 197.984528 m,
      bearing: 261.385528 deg,
      approach rate: -0.735476 m/s,
      LOS rate: 0.042385 deg/s,
      cmd heading: 250.867247 deg,
      new cmd heading: 250.920191 deg.

2025-06-27T19:42:31.294Z,1751053351.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379384 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:31.381Z,1751053351.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246920
2025-06-27T19:42:31.632Z,1751053351.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497848
2025-06-27T19:42:31.702Z,1751053351.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:31.704Z,1751053351.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 197.682648 m,
      bearing: 261.402779 deg,
      approach rate: -0.734122 m/s,
      LOS rate: 0.042017 deg/s,
      cmd heading: 250.920195 deg,
      new cmd heading: 250.972029 deg.

2025-06-27T19:42:31.705Z,1751053351.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380288 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:31.883Z,1751053351.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749705
2025-06-27T19:42:32.129Z,1751053352.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:32.132Z,1751053352.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 197.371765 m,
      bearing: 261.420253 deg,
      approach rate: -0.727466 m/s,
      LOS rate: 0.040952 deg/s,
      cmd heading: 250.972023 deg,
      new cmd heading: 251.024525 deg.

2025-06-27T19:42:32.133Z,1751053352.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381205 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:32.135Z,1751053352.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001723
2025-06-27T19:42:32.387Z,1751053352.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253653
2025-06-27T19:42:32.504Z,1751053352.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:32.507Z,1751053352.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 197.099030 m,
      bearing: 261.435536 deg,
      approach rate: -0.727761 m/s,
      LOS rate: 0.040838 deg/s,
      cmd heading: 251.024533 deg,
      new cmd heading: 251.070446 deg.

2025-06-27T19:42:32.507Z,1751053352.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382006 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:32.639Z,1751053352.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505715
2025-06-27T19:42:32.891Z,1751053352.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757708
2025-06-27T19:42:32.942Z,1751053352.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:32.944Z,1751053352.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:32.951Z,1751053352.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 196.791016 m,
      bearing: 261.450689 deg,
      approach rate: -0.698780 m/s,
      LOS rate: 0.034433 deg/s,
      cmd heading: 251.070459 deg,
      new cmd heading: 251.115992 deg.

2025-06-27T19:42:32.952Z,1751053352.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382801 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:33.143Z,1751053353.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009646
2025-06-27T19:42:33.321Z,1751053353.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:33.340Z,1751053353.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 196.506119 m,
      bearing: 261.464675 deg,
      approach rate: -0.756642 m/s,
      LOS rate: 0.037197 deg/s,
      cmd heading: 251.116003 deg,
      new cmd heading: 251.158021 deg.

2025-06-27T19:42:33.341Z,1751053353.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383534 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:33.396Z,1751053353.396 [DAT](INFO): DAT read: Rx Time:19:42:31.5891

2025-06-27T19:42:33.396Z,1751053353.396 [DAT](INFO): Rx dataTimestamp_ set to:1751053353.395712
2025-06-27T19:42:33.397Z,1751053353.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262874
2025-06-27T19:42:33.647Z,1751053353.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513562
2025-06-27T19:42:33.800Z,1751053353.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.57 m.
2025-06-27T19:42:33.840Z,1751053353.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.570068 m,
      nav range: 196.175308 m,
      bearing: 261.480966 deg,
      approach rate: -0.693509 m/s,
      LOS rate: 0.034210 deg/s,
      cmd heading: 251.158022 deg,
      new cmd heading: 251.206978 deg.

2025-06-27T19:42:33.841Z,1751053353.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384389 target range: 199.570068 and range: 201.40 m.
2025-06-27T19:42:33.912Z,1751053353.912 [DAT](INFO): DAT read: 19:42:31.5891 LVL= 26992, 32753, 21858, 28995, AGC= 67, IDX= 414,-0.37, 3.065, 2.034,-3.123, 1.907, PHS= 1.246, 0.174, 1.250, RAW= 150.2, -41.3, CAL= 153.4, -43.5, ROT= 356.6,  43.5

2025-06-27T19:42:33.914Z,1751053353.914 [DAT](INFO): got valid direction response:
 19:42:31.5891 LVL= 26992, 32753, 21858, 28995, AGC= 67, IDX= 414,-0.37, 3.065, 2.034,-3.123, 1.907, PHS= 1.246, 0.174, 1.250, RAW= 150.2, -41.3, CAL= 153.4, -43.5, ROT= 356.6,  43.5

2025-06-27T19:42:33.916Z,1751053353.916 [DAT](INFO): DAT read: Bearing 356.6,  43.5 (Local)

2025-06-27T19:42:33.916Z,1751053353.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  43.5 (Local)

2025-06-27T19:42:33.918Z,1751053353.918 [DAT](INFO): DAT read: Range 10 to 50 : 199.3 m  (Round-trip  265.8 ms) speed  1.2 m/s

2025-06-27T19:42:33.927Z,1751053353.927 [DAT](INFO): DAT read: user:2684>

2025-06-27T19:42:33.928Z,1751053353.928 [DAT](INFO): DAT read: Tx time:19:42:32.6692

2025-06-27T19:42:33.928Z,1751053353.928 [DAT](INFO): Ping request sent.
2025-06-27T19:42:33.928Z,1751053353.928 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:33.929Z,1751053353.929 [DAT](INFO): DAT read: TxSync time:19:42:32.6684

2025-06-27T19:42:33.930Z,1751053353.930 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:33.937Z,1751053353.937 [DAT](INFO): direction in FSK: [0.724098,-0.043019,-0.688355]
2025-06-27T19:42:33.937Z,1751053353.937 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:33.937Z,1751053353.937 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:33.964Z,1751053353.964 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:33.965Z,1751053353.965 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:34.183Z,1751053354.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.300003 m,
      deltaT: 3.782230 s,
      deltaX: -2.099991 m,
      approachRate: -0.555226 m/s,
      rangeRepo size: 4

2025-06-27T19:42:34.185Z,1751053354.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.489288 m,
      bearing: 251.841746 deg,
      lat: 36.906689 deg,
      lon: -122.116311 deg,
      deltaT: 3.782230 s,
      deltaX: -2.080780 m,
      approachRate: -0.550146 m/s,
      posRepo size: 4

2025-06-27T19:42:34.186Z,1751053354.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:34.192Z,1751053354.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 164.823929 m,
      bearing: 253.691272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034210 deg/s,
      cmd heading: 251.206981 deg,
      new cmd heading: 251.245979 deg.

2025-06-27T19:42:34.193Z,1751053354.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385069 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:34.542Z,1751053354.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:34.545Z,1751053354.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 164.545105 m,
      bearing: 253.693613 deg,
      approach rate: -0.765678 m/s,
      LOS rate: 0.006441 deg/s,
      cmd heading: 251.245968 deg,
      new cmd heading: 251.253004 deg.

2025-06-27T19:42:34.546Z,1751053354.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385192 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:34.957Z,1751053354.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:34.959Z,1751053354.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:34.961Z,1751053354.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 164.242615 m,
      bearing: 253.697621 deg,
      approach rate: -0.726253 m/s,
      LOS rate: 0.009640 deg/s,
      cmd heading: 251.253017 deg,
      new cmd heading: 251.265062 deg.

2025-06-27T19:42:34.963Z,1751053354.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385403 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:35.159Z,1751053355.159 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:35.159Z,1751053355.159 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:35.159Z,1751053355.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:35.357Z,1751053355.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:35.360Z,1751053355.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 163.952103 m,
      bearing: 253.701381 deg,
      approach rate: -0.728358 m/s,
      LOS rate: 0.009445 deg/s,
      cmd heading: 251.265065 deg,
      new cmd heading: 251.276366 deg.

2025-06-27T19:42:35.361Z,1751053355.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385600 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:35.412Z,1751053355.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483243
2025-06-27T19:42:35.663Z,1751053355.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734874
2025-06-27T19:42:35.763Z,1751053355.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:35.766Z,1751053355.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 163.662842 m,
      bearing: 253.704925 deg,
      approach rate: -0.712909 m/s,
      LOS rate: 0.008749 deg/s,
      cmd heading: 251.276376 deg,
      new cmd heading: 251.287025 deg.

2025-06-27T19:42:35.767Z,1751053355.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385786 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:35.915Z,1751053355.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986950
2025-06-27T19:42:36.167Z,1751053356.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238932
2025-06-27T19:42:36.201Z,1751053356.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:36.203Z,1751053356.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 163.336426 m,
      bearing: 253.705740 deg,
      approach rate: -0.746544 m/s,
      LOS rate: 0.001869 deg/s,
      cmd heading: 251.287031 deg,
      new cmd heading: 251.289483 deg.

2025-06-27T19:42:36.204Z,1751053356.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385829 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:36.419Z,1751053356.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490912
2025-06-27T19:42:36.578Z,1751053356.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:36.580Z,1751053356.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 163.060165 m,
      bearing: 253.706192 deg,
      approach rate: -0.732726 m/s,
      LOS rate: 0.001199 deg/s,
      cmd heading: 251.289490 deg,
      new cmd heading: 251.290846 deg.

2025-06-27T19:42:36.581Z,1751053356.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385853 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:36.671Z,1751053356.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743006
2025-06-27T19:42:36.923Z,1751053356.923 [DAT](INFO): DAT read: Rx Time:19:42:35.3080

2025-06-27T19:42:36.924Z,1751053356.924 [DAT](INFO): Rx dataTimestamp_ set to:1751053356.923492
2025-06-27T19:42:36.924Z,1751053356.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995874
2025-06-27T19:42:37.000Z,1751053357.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:37.008Z,1751053357.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:37.017Z,1751053357.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 162.763916 m,
      bearing: 253.705742 deg,
      approach rate: -0.688438 m/s,
      LOS rate: -0.001046 deg/s,
      cmd heading: 251.290856 deg,
      new cmd heading: 251.289505 deg.

2025-06-27T19:42:37.018Z,1751053357.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385829 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:37.176Z,1751053357.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247529
2025-06-27T19:42:37.348Z,1751053357.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:37.371Z,1751053357.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 162.500473 m,
      bearing: 253.705279 deg,
      approach rate: -0.774511 m/s,
      LOS rate: -0.001364 deg/s,
      cmd heading: 251.289517 deg,
      new cmd heading: 251.288125 deg.

2025-06-27T19:42:37.372Z,1751053357.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385805 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:37.480Z,1751053357.480 [DAT](INFO): DAT read: 19:42:35.3080 LVL= 25744, 32753, 24146, 32755, AGC= 69, IDX= 126, 0.13,-2.611, 1.819,-3.130, 2.930, PHS= 0.830,-1.065, 0.220, RAW= 131.6,   0.2, CAL= 137.4,  -8.4, ROT=  12.6,   8.4

2025-06-27T19:42:37.481Z,1751053357.481 [DAT](INFO): got valid direction response:
 19:42:35.3080 LVL= 25744, 32753, 24146, 32755, AGC= 69, IDX= 126, 0.13,-2.611, 1.819,-3.130, 2.930, PHS= 0.830,-1.065, 0.220, RAW= 131.6,   0.2, CAL= 137.4,  -8.4, ROT=  12.6,   8.4

2025-06-27T19:42:37.482Z,1751053357.482 [DAT](INFO): DAT read: Bearing  12.6,   8.4 (Local)

2025-06-27T19:42:37.492Z,1751053357.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.6,   8.4 (Local)

2025-06-27T19:42:37.494Z,1751053357.494 [DAT](INFO): DAT read: Range 10 to 50 : 175.8 m  (Round-trip  234.5 ms) speed  0.7 m/s

2025-06-27T19:42:37.507Z,1751053357.507 [DAT](INFO): DAT read: user:2685>

2025-06-27T19:42:37.508Z,1751053357.508 [DAT](INFO): DAT read: Tx time:19:42:36.4208

2025-06-27T19:42:37.508Z,1751053357.508 [DAT](INFO): Ping request sent.
2025-06-27T19:42:37.508Z,1751053357.508 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:37.508Z,1751053357.508 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:37.509Z,1751053357.509 [DAT](INFO): direction in FSK: [0.965447,0.215803,-0.146083]
2025-06-27T19:42:37.510Z,1751053357.510 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:37.510Z,1751053357.510 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:37.517Z,1751053357.517 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:37.517Z,1751053357.517 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:37.680Z,1751053357.680 [DAT](INFO): DAT read: TxSync time:19:42:36.4201

2025-06-27T19:42:37.772Z,1751053357.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 175.800003 m,
 deltaT: 3.527546 s,
 deltaX: -23.500000 m,
 approachRate: -6.661855 m/s,
 rangeRepo size: 4
2025-06-27T19:42:37.773Z,1751053357.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:37.776Z,1751053357.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 162.196106 m,
      bearing: 253.704638 deg,
      approach rate: -0.718599 m/s,
      LOS rate: -0.001517 deg/s,
      cmd heading: 251.288124 deg,
      new cmd heading: 251.286196 deg.

2025-06-27T19:42:37.777Z,1751053357.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385771 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:38.192Z,1751053358.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:38.195Z,1751053358.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 161.890121 m,
      bearing: 253.703765 deg,
      approach rate: -0.727236 m/s,
      LOS rate: -0.002077 deg/s,
      cmd heading: 251.286184 deg,
      new cmd heading: 251.283562 deg.

2025-06-27T19:42:38.196Z,1751053358.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385725 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:38.566Z,1751053358.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:38.569Z,1751053358.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 161.620850 m,
      bearing: 253.703044 deg,
      approach rate: -0.720604 m/s,
      LOS rate: -0.001934 deg/s,
      cmd heading: 251.283561 deg,
      new cmd heading: 251.281393 deg.

2025-06-27T19:42:38.570Z,1751053358.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385688 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:39.003Z,1751053359.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:39.007Z,1751053359.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:39.011Z,1751053359.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 161.296738 m,
      bearing: 253.706044 deg,
      approach rate: -0.736606 m/s,
      LOS rate: 0.006833 deg/s,
      cmd heading: 251.281403 deg,
      new cmd heading: 251.290423 deg.

2025-06-27T19:42:39.012Z,1751053359.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385845 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:39.191Z,1751053359.191 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:39.191Z,1751053359.191 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:39.191Z,1751053359.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:39.386Z,1751053359.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:39.388Z,1751053359.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 161.009155 m,
      bearing: 253.708612 deg,
      approach rate: -0.757585 m/s,
      LOS rate: 0.006776 deg/s,
      cmd heading: 251.290419 deg,
      new cmd heading: 251.298135 deg.

2025-06-27T19:42:39.389Z,1751053359.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385980 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:39.445Z,1751053359.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936492
2025-06-27T19:42:39.695Z,1751053359.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187182
2025-06-27T19:42:39.772Z,1751053359.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:39.775Z,1751053359.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 160.717819 m,
      bearing: 253.711073 deg,
      approach rate: -0.754145 m/s,
      LOS rate: 0.006383 deg/s,
      cmd heading: 251.298123 deg,
      new cmd heading: 251.305521 deg.

2025-06-27T19:42:39.776Z,1751053359.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386109 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:39.952Z,1751053359.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443238
2025-06-27T19:42:40.200Z,1751053360.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691557
2025-06-27T19:42:40.202Z,1751053360.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:40.205Z,1751053360.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 160.405807 m,
      bearing: 253.710068 deg,
      approach rate: -0.726218 m/s,
      LOS rate: -0.002345 deg/s,
      cmd heading: 251.305527 deg,
      new cmd heading: 251.302504 deg.

2025-06-27T19:42:40.206Z,1751053360.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386056 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:40.451Z,1751053360.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943202
2025-06-27T19:42:40.647Z,1751053360.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:40.649Z,1751053360.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 160.080002 m,
      bearing: 253.709013 deg,
      approach rate: -0.732029 m/s,
      LOS rate: -0.002374 deg/s,
      cmd heading: 251.302494 deg,
      new cmd heading: 251.299325 deg.

2025-06-27T19:42:40.651Z,1751053360.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386001 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:40.704Z,1751053360.704 [DAT](INFO): DAT read: Rx Time:19:42:39.0559

2025-06-27T19:42:40.704Z,1751053360.704 [DAT](INFO): Rx dataTimestamp_ set to:1751053360.703703
2025-06-27T19:42:40.705Z,1751053360.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196466
2025-06-27T19:42:40.955Z,1751053360.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447367
2025-06-27T19:42:41.070Z,1751053361.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:41.073Z,1751053361.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.49 m.
2025-06-27T19:42:41.079Z,1751053361.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.489288 m,
      nav range: 159.769806 m,
      bearing: 253.707169 deg,
      approach rate: -0.728173 m/s,
      LOS rate: -0.004338 deg/s,
      cmd heading: 251.299325 deg,
      new cmd heading: 251.293781 deg.

2025-06-27T19:42:41.080Z,1751053361.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385904 target range: 197.489288 and range: 199.30 m.
2025-06-27T19:42:41.213Z,1751053361.213 [DAT](INFO): DAT read: 19:42:39.0559 LVL= 28080, 32753, 31698, 32755, AGC= 64, IDX= 408, 0.38, 1.295,-0.446, 0.885, 0.652, PHS= 0.730,-1.052, 0.230, RAW= 134.2,   1.2, CAL= 139.6,  -7.3, ROT=  10.4,   7.3

2025-06-27T19:42:41.214Z,1751053361.214 [DAT](INFO): got valid direction response:
 19:42:39.0559 LVL= 28080, 32753, 31698, 32755, AGC= 64, IDX= 408, 0.38, 1.295,-0.446, 0.885, 0.652, PHS= 0.730,-1.052, 0.230, RAW= 134.2,   1.2, CAL= 139.6,  -7.3, ROT=  10.4,   7.3

2025-06-27T19:42:41.215Z,1751053361.215 [DAT](INFO): DAT read: Bearing  10.4,   7.3 (Local)

2025-06-27T19:42:41.216Z,1751053361.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.4,   7.3 (Local)

2025-06-27T19:42:41.217Z,1751053361.217 [DAT](INFO): DAT read: Range 10 to 50 : 173.1 m  (Round-trip  230.9 ms) speed  0.4 m/s

2025-06-27T19:42:41.218Z,1751053361.218 [DAT](INFO): DAT read: user:2686>

2025-06-27T19:42:41.219Z,1751053361.219 [DAT](INFO): DAT read: Tx time:19:42:40.1693

2025-06-27T19:42:41.219Z,1751053361.219 [DAT](INFO): Ping request sent.
2025-06-27T19:42:41.219Z,1751053361.219 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:41.220Z,1751053361.220 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:41.220Z,1751053361.220 [DAT](INFO): direction in FSK: [0.975599,0.179056,-0.127065]
2025-06-27T19:42:41.221Z,1751053361.221 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:41.221Z,1751053361.221 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:41.224Z,1751053361.224 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:41.224Z,1751053361.224 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:41.433Z,1751053361.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.100006 m,
      deltaT: 7.305833 s,
      deltaX: -26.199997 m,
      approachRate: -3.586175 m/s,
      rangeRepo size: 4

2025-06-27T19:42:41.440Z,1751053361.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.527725 m,
      bearing: 262.202117 deg,
      lat: 36.906882 deg,
      lon: -122.116498 deg,
      deltaT: 7.305833 s,
      deltaX: -25.961563 m,
      approachRate: -3.553539 m/s,
      posRepo size: 4

2025-06-27T19:42:41.440Z,1751053361.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:41.449Z,1751053361.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 171.294174 m,
      bearing: 262.166954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004338 deg/s,
      cmd heading: 251.293779 deg,
      new cmd heading: 251.289095 deg.

2025-06-27T19:42:41.450Z,1751053361.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385822 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:41.460Z,1751053361.460 [DAT](INFO): DAT read: TxSync time:19:42:40.1685

2025-06-27T19:42:41.792Z,1751053361.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:41.795Z,1751053361.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 171.017746 m,
      bearing: 262.179047 deg,
      approach rate: -0.768050 m/s,
      LOS rate: 0.033653 deg/s,
      cmd heading: 251.289107 deg,
      new cmd heading: 251.325443 deg.

2025-06-27T19:42:41.796Z,1751053361.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.386456 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:42.229Z,1751053362.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:42.237Z,1751053362.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 170.697723 m,
      bearing: 262.195224 deg,
      approach rate: -0.732736 m/s,
      LOS rate: 0.037110 deg/s,
      cmd heading: 251.325444 deg,
      new cmd heading: 251.374067 deg.

2025-06-27T19:42:42.254Z,1751053362.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387305 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:42.601Z,1751053362.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:42.604Z,1751053362.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 170.425598 m,
      bearing: 262.209137 deg,
      approach rate: -0.731380 m/s,
      LOS rate: 0.037454 deg/s,
      cmd heading: 251.374075 deg,
      new cmd heading: 251.415881 deg.

2025-06-27T19:42:42.605Z,1751053362.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388035 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:43.055Z,1751053363.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:43.058Z,1751053363.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 170.084091 m,
      bearing: 262.225455 deg,
      approach rate: -0.752278 m/s,
      LOS rate: 0.036017 deg/s,
      cmd heading: 251.415876 deg,
      new cmd heading: 251.464927 deg.

2025-06-27T19:42:43.079Z,1751053363.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388891 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:43.452Z,1751053363.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:43.454Z,1751053363.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:43.457Z,1751053363.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 169.784378 m,
      bearing: 262.239636 deg,
      approach rate: -0.751089 m/s,
      LOS rate: 0.035600 deg/s,
      cmd heading: 251.464916 deg,
      new cmd heading: 251.507534 deg.

2025-06-27T19:42:43.458Z,1751053363.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.389635 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:43.475Z,1751053363.475 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:43.475Z,1751053363.475 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:43.475Z,1751053363.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:43.727Z,1751053363.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508021
2025-06-27T19:42:43.833Z,1751053363.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:43.836Z,1751053363.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 169.499374 m,
      bearing: 262.253167 deg,
      approach rate: -0.752467 m/s,
      LOS rate: 0.035786 deg/s,
      cmd heading: 251.507537 deg,
      new cmd heading: 251.548199 deg.

2025-06-27T19:42:43.837Z,1751053363.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390344 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:43.982Z,1751053363.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763202
2025-06-27T19:42:44.231Z,1751053364.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012010
2025-06-27T19:42:44.258Z,1751053364.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:44.262Z,1751053364.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 169.186737 m,
      bearing: 262.268272 deg,
      approach rate: -0.735638 m/s,
      LOS rate: 0.035609 deg/s,
      cmd heading: 251.548190 deg,
      new cmd heading: 251.593590 deg.

2025-06-27T19:42:44.263Z,1751053364.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391137 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:44.483Z,1751053364.483 [DAT](INFO): DAT read: Rx Time:19:42:42.8007

2025-06-27T19:42:44.484Z,1751053364.484 [DAT](INFO): Rx dataTimestamp_ set to:1751053364.483647
2025-06-27T19:42:44.484Z,1751053364.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265202
2025-06-27T19:42:44.626Z,1751053364.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.53 m.
2025-06-27T19:42:44.629Z,1751053364.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.527725 m,
      nav range: 168.915756 m,
      bearing: 262.281385 deg,
      approach rate: -0.736019 m/s,
      LOS rate: 0.035673 deg/s,
      cmd heading: 251.593597 deg,
      new cmd heading: 251.632998 deg.

2025-06-27T19:42:44.630Z,1751053364.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391824 target range: 171.527725 and range: 173.10 m.
2025-06-27T19:42:44.735Z,1751053364.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516109
2025-06-27T19:42:45.016Z,1751053365.016 [DAT](INFO): DAT read: 19:42:42.8007 LVL= 31216, 32753, 29474, 32755, AGC= 68, IDX= 404, 0.07,-2.288, 2.533,-2.653,-2.925, PHS= 0.725,-0.778, 0.269, RAW= 132.8,  -3.3, CAL= 138.3, -13.3, ROT=  11.7,  13.3

2025-06-27T19:42:45.017Z,1751053365.017 [DAT](INFO): got valid direction response:
 19:42:42.8007 LVL= 31216, 32753, 29474, 32755, AGC= 68, IDX= 404, 0.07,-2.288, 2.533,-2.653,-2.925, PHS= 0.725,-0.778, 0.269, RAW= 132.8,  -3.3, CAL= 138.3, -13.3, ROT=  11.7,  13.3

2025-06-27T19:42:45.040Z,1751053365.040 [DAT](INFO): DAT read: Bearing  11.7,  13.3 (Local)

2025-06-27T19:42:45.040Z,1751053365.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.7,  13.3 (Local)

2025-06-27T19:42:45.042Z,1751053365.042 [DAT](INFO): DAT read: Range 10 to 50 : 170.4 m  (Round-trip  227.3 ms) speed  0.9 m/s

2025-06-27T19:42:45.051Z,1751053365.051 [DAT](INFO): DAT read: user:2687>

2025-06-27T19:42:45.051Z,1751053365.051 [DAT](INFO): DAT read: Tx time:19:42:43.9193

2025-06-27T19:42:45.052Z,1751053365.052 [DAT](INFO): Ping request sent.
2025-06-27T19:42:45.052Z,1751053365.052 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:45.052Z,1751053365.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:45.053Z,1751053365.053 [DAT](INFO): direction in FSK: [0.952959,0.197348,-0.230050]
2025-06-27T19:42:45.053Z,1751053365.053 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:45.054Z,1751053365.054 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:45.065Z,1751053365.066 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:45.066Z,1751053365.066 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:45.192Z,1751053365.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 170.399994 m,
      deltaT: 3.782415 s,
      deltaX: -2.700012 m,
      approachRate: -0.713833 m/s,
      rangeRepo size: 4

2025-06-27T19:42:45.194Z,1751053365.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.852234 m,
      bearing: 263.957617 deg,
      lat: 36.906883 deg,
      lon: -122.116498 deg,
      deltaT: 3.782415 s,
      deltaX: -2.675491 m,
      approachRate: -0.707350 m/s,
      posRepo size: 4

2025-06-27T19:42:45.199Z,1751053365.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:45.201Z,1751053365.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 168.502167 m,
      bearing: 262.340300 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035673 deg/s,
      cmd heading: 251.632994 deg,
      new cmd heading: 251.693455 deg.

2025-06-27T19:42:45.207Z,1751053365.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392879 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:45.240Z,1751053365.240 [DAT](INFO): DAT read: TxSync time:19:42:43.9185

2025-06-27T19:42:45.630Z,1751053365.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:45.633Z,1751053365.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:45.640Z,1751053365.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 168.178070 m,
      bearing: 262.358811 deg,
      approach rate: -0.734073 m/s,
      LOS rate: 0.042008 deg/s,
      cmd heading: 251.693454 deg,
      new cmd heading: 251.749095 deg.

2025-06-27T19:42:45.641Z,1751053365.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.393851 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:45.743Z,1751053365.743 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:45.743Z,1751053365.743 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:45.743Z,1751053365.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:45.999Z,1751053365.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946237
2025-06-27T19:42:46.151Z,1751053366.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:46.154Z,1751053366.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 167.796310 m,
      bearing: 262.381491 deg,
      approach rate: -0.735851 m/s,
      LOS rate: 0.043816 deg/s,
      cmd heading: 251.749107 deg,
      new cmd heading: 251.817302 deg.

2025-06-27T19:42:46.159Z,1751053366.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395041 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:46.248Z,1751053366.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195683
2025-06-27T19:42:46.502Z,1751053366.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450344
2025-06-27T19:42:46.602Z,1751053366.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:46.605Z,1751053366.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 167.461044 m,
      bearing: 262.401538 deg,
      approach rate: -0.743687 m/s,
      LOS rate: 0.044558 deg/s,
      cmd heading: 251.817299 deg,
      new cmd heading: 251.877562 deg.

2025-06-27T19:42:46.606Z,1751053366.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396093 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:46.753Z,1751053366.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700978
2025-06-27T19:42:47.007Z,1751053367.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954263
2025-06-27T19:42:47.100Z,1751053367.100 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       +27.44,      +475.61,     ,  0.00
2025-06-27T19:42:47.131Z,1751053367.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:47.133Z,1751053367.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 167.075485 m,
      bearing: 262.424707 deg,
      approach rate: -0.730076 m/s,
      LOS rate: 0.043973 deg/s,
      cmd heading: 251.877569 deg,
      new cmd heading: 251.947236 deg.

2025-06-27T19:42:47.134Z,1751053367.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397309 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:47.257Z,1751053367.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204771
2025-06-27T19:42:47.508Z,1751053367.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456134
2025-06-27T19:42:47.569Z,1751053367.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:47.580Z,1751053367.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 166.755264 m,
      bearing: 262.443925 deg,
      approach rate: -0.730218 m/s,
      LOS rate: 0.043907 deg/s,
      cmd heading: 251.947237 deg,
      new cmd heading: 252.005001 deg.

2025-06-27T19:42:47.581Z,1751053367.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398317 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:47.763Z,1751053367.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711180
2025-06-27T19:42:48.014Z,1751053368.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961858
2025-06-27T19:42:48.088Z,1751053368.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:48.090Z,1751053368.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:48.093Z,1751053368.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 166.389893 m,
      bearing: 262.466995 deg,
      approach rate: -0.701313 m/s,
      LOS rate: 0.044380 deg/s,
      cmd heading: 252.004993 deg,
      new cmd heading: 252.074356 deg.

2025-06-27T19:42:48.094Z,1751053368.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399528 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:48.264Z,1751053368.264 [DAT](INFO): DAT read: Rx Time:19:42:46.5470

2025-06-27T19:42:48.265Z,1751053368.265 [DAT](INFO): Rx dataTimestamp_ set to:1751053368.264469
2025-06-27T19:42:48.266Z,1751053368.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.213649
2025-06-27T19:42:48.516Z,1751053368.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463672
2025-06-27T19:42:48.526Z,1751053368.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.85 m.
2025-06-27T19:42:48.529Z,1751053368.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.852234 m,
      nav range: 166.083054 m,
      bearing: 262.486254 deg,
      approach rate: -0.703122 m/s,
      LOS rate: 0.044214 deg/s,
      cmd heading: 252.074360 deg,
      new cmd heading: 252.132245 deg.

2025-06-27T19:42:48.530Z,1751053368.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.400538 target range: 168.852234 and range: 170.40 m.
2025-06-27T19:42:48.776Z,1751053368.776 [DAT](INFO): DAT read: 19:42:46.5471 LVL= 28048, 32753, 24370, 32755, AGC= 68, IDX= 398, 0.15, 1.782, 0.199, 1.424, 1.144, PHS= 0.726,-0.898, 0.277, RAW= 134.5,  -1.5, CAL= 139.9, -10.8, ROT=  10.1,  10.8

2025-06-27T19:42:48.777Z,1751053368.777 [DAT](INFO): got valid direction response:
 19:42:46.5471 LVL= 28048, 32753, 24370, 32755, AGC= 68, IDX= 398, 0.15, 1.782, 0.199, 1.424, 1.144, PHS= 0.726,-0.898, 0.277, RAW= 134.5,  -1.5, CAL= 139.9, -10.8, ROT=  10.1,  10.8

2025-06-27T19:42:48.778Z,1751053368.778 [DAT](INFO): DAT read: Bearing  10.1,  10.8 (Local)

2025-06-27T19:42:48.779Z,1751053368.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  10.8 (Local)

2025-06-27T19:42:48.780Z,1751053368.780 [DAT](INFO): DAT read: Range 10 to 50 : 167.7 m  (Round-trip  223.6 ms) speed  0.4 m/s

2025-06-27T19:42:48.781Z,1751053368.781 [DAT](INFO): DAT read: user:2688>

2025-06-27T19:42:48.782Z,1751053368.782 [DAT](INFO): DAT read: Tx time:19:42:47.6694

2025-06-27T19:42:48.782Z,1751053368.782 [DAT](INFO): Ping request sent.
2025-06-27T19:42:48.782Z,1751053368.782 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:48.783Z,1751053368.783 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:48.783Z,1751053368.783 [DAT](INFO): direction in FSK: [0.967065,0.172261,-0.187381]
2025-06-27T19:42:48.784Z,1751053368.784 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:48.784Z,1751053368.784 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:48.791Z,1751053368.791 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:48.792Z,1751053368.792 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:49.023Z,1751053369.023 [DAT](INFO): DAT read: TxSync time:19:42:47.6686

2025-06-27T19:42:49.130Z,1751053369.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 167.699997 m,
      deltaT: 3.777997 s,
      deltaX: -2.699997 m,
      approachRate: -0.714664 m/s,
      rangeRepo size: 4

2025-06-27T19:42:49.148Z,1751053369.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 166.176773 m,
      bearing: 262.524809 deg,
      lat: 36.906884 deg,
      lon: -122.116493 deg,
      deltaT: 3.777997 s,
      deltaX: -2.675461 m,
      approachRate: -0.708169 m/s,
      posRepo size: 4

2025-06-27T19:42:49.149Z,1751053369.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:49.152Z,1751053369.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 165.164856 m,
      bearing: 262.525371 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044214 deg/s,
      cmd heading: 252.132253 deg,
      new cmd heading: 252.212209 deg.

2025-06-27T19:42:49.153Z,1751053369.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401934 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:49.469Z,1751053369.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:49.472Z,1751053369.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 164.922379 m,
      bearing: 262.540079 deg,
      approach rate: -0.712884 m/s,
      LOS rate: 0.043304 deg/s,
      cmd heading: 252.212221 deg,
      new cmd heading: 252.256409 deg.

2025-06-27T19:42:49.473Z,1751053369.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402705 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:49.870Z,1751053369.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:49.873Z,1751053369.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 164.634155 m,
      bearing: 262.557552 deg,
      approach rate: -0.719835 m/s,
      LOS rate: 0.043714 deg/s,
      cmd heading: 252.256399 deg,
      new cmd heading: 252.308908 deg.

2025-06-27T19:42:49.874Z,1751053369.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403621 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:50.303Z,1751053370.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:50.305Z,1751053370.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:50.312Z,1751053370.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 164.336014 m,
      bearing: 262.575650 deg,
      approach rate: -0.684530 m/s,
      LOS rate: 0.041630 deg/s,
      cmd heading: 252.308909 deg,
      new cmd heading: 252.363304 deg.

2025-06-27T19:42:50.313Z,1751053370.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404571 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:50.532Z,1751053370.532 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:50.532Z,1751053370.532 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:50.532Z,1751053370.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:50.678Z,1751053370.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:50.681Z,1751053370.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 164.053207 m,
      bearing: 262.592880 deg,
      approach rate: -0.757851 m/s,
      LOS rate: 0.046250 deg/s,
      cmd heading: 252.363305 deg,
      new cmd heading: 252.415082 deg.

2025-06-27T19:42:50.682Z,1751053370.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405474 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:50.783Z,1751053370.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001421
2025-06-27T19:42:51.038Z,1751053371.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362
2025-06-27T19:42:51.148Z,1751053371.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:51.151Z,1751053371.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 163.704788 m,
      bearing: 262.612870 deg,
      approach rate: -0.742142 m/s,
      LOS rate: 0.042670 deg/s,
      cmd heading: 252.415078 deg,
      new cmd heading: 252.475175 deg.

2025-06-27T19:42:51.152Z,1751053371.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.406523 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:51.287Z,1751053371.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505294
2025-06-27T19:42:51.466Z,1751053371.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:51.469Z,1751053371.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 163.468475 m,
      bearing: 262.626377 deg,
      approach rate: -0.742753 m/s,
      LOS rate: 0.042516 deg/s,
      cmd heading: 252.475183 deg,
      new cmd heading: 252.515764 deg.

2025-06-27T19:42:51.470Z,1751053371.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407231 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:51.540Z,1751053371.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757581
2025-06-27T19:42:51.791Z,1751053371.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009245
2025-06-27T19:42:51.869Z,1751053371.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:51.872Z,1751053371.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 163.169342 m,
      bearing: 262.643441 deg,
      approach rate: -0.742086 m/s,
      LOS rate: 0.042408 deg/s,
      cmd heading: 252.515755 deg,
      new cmd heading: 252.567039 deg.

2025-06-27T19:42:51.873Z,1751053371.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408126 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:52.046Z,1751053372.046 [DAT](INFO): DAT read: Rx Time:19:42:50.3226

2025-06-27T19:42:52.047Z,1751053372.047 [DAT](INFO): Rx dataTimestamp_ set to:1751053372.046504
2025-06-27T19:42:52.049Z,1751053372.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266444
2025-06-27T19:42:52.052Z,1751053372.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:42:52.296Z,1751053372.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513449
2025-06-27T19:42:52.299Z,1751053372.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:52.301Z,1751053372.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 162.844467 m,
      bearing: 262.661325 deg,
      approach rate: -0.756235 m/s,
      LOS rate: 0.041715 deg/s,
      cmd heading: 252.567036 deg,
      new cmd heading: 252.620797 deg.

2025-06-27T19:42:52.303Z,1751053372.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409065 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:52.553Z,1751053372.553 [DAT](INFO): DAT read: 19:42:50.3226 LVL= 27712, 32721, 23282, 28147, AGC= 67, IDX= 195,-0.10,-3.078, 1.689, 2.817, 2.575, PHS= 0.719,-0.838, 0.240, RAW= 132.5,  -1.8, CAL= 138.1, -11.2, ROT=  11.9,  11.2

2025-06-27T19:42:52.555Z,1751053372.555 [DAT](INFO): got valid direction response:
 19:42:50.3226 LVL= 27712, 32721, 23282, 28147, AGC= 67, IDX= 195,-0.10,-3.078, 1.689, 2.817, 2.575, PHS= 0.719,-0.838, 0.240, RAW= 132.5,  -1.8, CAL= 138.1, -11.2, ROT=  11.9,  11.2

2025-06-27T19:42:52.556Z,1751053372.556 [DAT](INFO): DAT read: Bearing  11.9,  11.2 (Local)

2025-06-27T19:42:52.556Z,1751053372.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.9,  11.2 (Local)

2025-06-27T19:42:52.557Z,1751053372.557 [DAT](INFO): DAT read: Range 10 to 50 : 186.8 m  (Round-trip  249.1 ms) speed  0.4 m/s

2025-06-27T19:42:52.558Z,1751053372.558 [DAT](INFO): DAT read: user:2689>

2025-06-27T19:42:52.559Z,1751053372.559 [DAT](INFO): DAT read: Tx time:19:42:51.4194

2025-06-27T19:42:52.559Z,1751053372.559 [DAT](INFO): Ping request sent.
2025-06-27T19:42:52.559Z,1751053372.559 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:52.560Z,1751053372.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:52.561Z,1751053372.561 [DAT](INFO): direction in FSK: [0.959873,0.202277,-0.194234]
2025-06-27T19:42:52.561Z,1751053372.561 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:52.561Z,1751053372.561 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:52.570Z,1751053372.570 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:52.575Z,1751053372.575 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:52.719Z,1751053372.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 186.800003 m,
 deltaT: 3.779602 s,
 deltaX: 19.100006 m,
 approachRate: 5.053444 m/s,
 rangeRepo size: 4
2025-06-27T19:42:52.720Z,1751053372.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:52.727Z,1751053372.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 162.541840 m,
      bearing: 262.677981 deg,
      approach rate: -0.727808 m/s,
      LOS rate: 0.040131 deg/s,
      cmd heading: 252.620803 deg,
      new cmd heading: 252.670864 deg.

2025-06-27T19:42:52.728Z,1751053372.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.409938 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:52.800Z,1751053372.800 [DAT](INFO): DAT read: TxSync time:19:42:51.4186

2025-06-27T19:42:53.055Z,1751053373.055 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:42:53.140Z,1751053373.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:53.142Z,1751053373.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:53.145Z,1751053373.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 162.203629 m,
      bearing: 262.696762 deg,
      approach rate: -0.790993 m/s,
      LOS rate: 0.044014 deg/s,
      cmd heading: 252.670855 deg,
      new cmd heading: 252.727313 deg.

2025-06-27T19:42:53.146Z,1751053373.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410924 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:53.303Z,1751053373.303 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:53.303Z,1751053373.303 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:53.303Z,1751053373.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:53.522Z,1751053373.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:53.525Z,1751053373.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 161.918289 m,
      bearing: 262.713309 deg,
      approach rate: -0.758367 m/s,
      LOS rate: 0.044056 deg/s,
      cmd heading: 252.727327 deg,
      new cmd heading: 252.777056 deg.

2025-06-27T19:42:53.526Z,1751053373.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411792 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:53.556Z,1751053373.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996495
2025-06-27T19:42:53.807Z,1751053373.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247901
2025-06-27T19:42:53.897Z,1751053373.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:53.900Z,1751053373.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 161.631622 m,
      bearing: 262.730040 deg,
      approach rate: -0.757430 m/s,
      LOS rate: 0.044284 deg/s,
      cmd heading: 252.777050 deg,
      new cmd heading: 252.827331 deg.

2025-06-27T19:42:53.901Z,1751053373.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412669 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:54.059Z,1751053374.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499927
2025-06-27T19:42:54.311Z,1751053374.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751956
2025-06-27T19:42:54.351Z,1751053374.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:54.354Z,1751053374.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 161.309082 m,
      bearing: 262.747716 deg,
      approach rate: -0.709797 m/s,
      LOS rate: 0.038977 deg/s,
      cmd heading: 252.827321 deg,
      new cmd heading: 252.880456 deg.

2025-06-27T19:42:54.363Z,1751053374.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.413597 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:54.563Z,1751053374.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003905
2025-06-27T19:42:54.694Z,1751053374.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:54.697Z,1751053374.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 161.033539 m,
      bearing: 262.762835 deg,
      approach rate: -0.803293 m/s,
      LOS rate: 0.044152 deg/s,
      cmd heading: 252.880459 deg,
      new cmd heading: 252.925894 deg.

2025-06-27T19:42:54.698Z,1751053374.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.414390 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:54.815Z,1751053374.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255946
2025-06-27T19:42:55.067Z,1751053375.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507834
2025-06-27T19:42:55.168Z,1751053375.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:55.175Z,1751053375.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:55.177Z,1751053375.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 160.703888 m,
      bearing: 262.780833 deg,
      approach rate: -0.691881 m/s,
      LOS rate: 0.037852 deg/s,
      cmd heading: 252.925894 deg,
      new cmd heading: 252.979998 deg.

2025-06-27T19:42:55.183Z,1751053375.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415334 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:55.319Z,1751053375.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759847
2025-06-27T19:42:55.552Z,1751053375.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:55.558Z,1751053375.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 160.406494 m,
      bearing: 262.794865 deg,
      approach rate: -0.780614 m/s,
      LOS rate: 0.036900 deg/s,
      cmd heading: 252.979989 deg,
      new cmd heading: 253.022163 deg.

2025-06-27T19:42:55.559Z,1751053375.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416070 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:55.571Z,1751053375.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011957
2025-06-27T19:42:55.824Z,1751053375.824 [DAT](INFO): DAT read: Rx Time:19:42:54.0693

2025-06-27T19:42:55.824Z,1751053375.824 [DAT](INFO): Rx dataTimestamp_ set to:1751053375.823837
2025-06-27T19:42:55.825Z,1751053375.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265212
2025-06-27T19:42:55.922Z,1751053375.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 166.18 m.
2025-06-27T19:42:55.925Z,1751053375.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 166.176773 m,
      nav range: 160.123337 m,
      bearing: 262.808078 deg,
      approach rate: -0.772388 m/s,
      LOS rate: 0.036107 deg/s,
      cmd heading: 253.022172 deg,
      new cmd heading: 253.061882 deg.

2025-06-27T19:42:55.926Z,1751053375.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.416763 target range: 166.176773 and range: 167.70 m.
2025-06-27T19:42:56.078Z,1751053376.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518176
2025-06-27T19:42:56.333Z,1751053376.333 [DAT](INFO): DAT read: 19:42:54.0693 LVL= 27632, 29905, 20562, 31907, AGC= 70, IDX= 401,-0.15, 2.484, 1.006, 2.103, 1.858, PHS= 0.714,-0.805, 0.242, RAW= 132.3,  -2.3, CAL= 137.9, -11.9, ROT=  12.1,  11.9

2025-06-27T19:42:56.335Z,1751053376.335 [DAT](INFO): got valid direction response:
 19:42:54.0693 LVL= 27632, 29905, 20562, 31907, AGC= 70, IDX= 401,-0.15, 2.484, 1.006, 2.103, 1.858, PHS= 0.714,-0.805, 0.242, RAW= 132.3,  -2.3, CAL= 137.9, -11.9, ROT=  12.1,  11.9

2025-06-27T19:42:56.336Z,1751053376.336 [DAT](INFO): DAT read: Bearing  12.1,  11.9 (Local)

2025-06-27T19:42:56.336Z,1751053376.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.1,  11.9 (Local)

2025-06-27T19:42:56.337Z,1751053376.337 [DAT](INFO): DAT read: Range 10 to 50 : 184.3 m  (Round-trip  245.8 ms) speed  0.7 m/s

2025-06-27T19:42:56.354Z,1751053376.354 [DAT](INFO): DAT read: user:2690>

2025-06-27T19:42:56.355Z,1751053376.355 [DAT](INFO): DAT read: Tx time:19:42:55.1694

2025-06-27T19:42:56.355Z,1751053376.355 [DAT](INFO): Ping request sent.
2025-06-27T19:42:56.356Z,1751053376.356 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:42:56.356Z,1751053376.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:42:56.357Z,1751053376.357 [DAT](INFO): direction in FSK: [0.956770,0.205114,-0.206204]
2025-06-27T19:42:56.357Z,1751053376.357 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:56.357Z,1751053376.357 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:56.361Z,1751053376.361 [DAT](INFO): publishing transmit ping time
2025-06-27T19:42:56.361Z,1751053376.361 [DAT](INFO): publishing direction and range info
2025-06-27T19:42:56.388Z,1751053376.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.300003 m,
      deltaT: 7.559612 s,
      deltaX: 16.600006 m,
      approachRate: 2.195881 m/s,
      rangeRepo size: 4

2025-06-27T19:42:56.390Z,1751053376.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 182.626541 m,
      bearing: 265.350382 deg,
      lat: 36.906922 deg,
      lon: -122.116498 deg,
      deltaT: 7.559612 s,
      deltaX: 16.449768 m,
      approachRate: 2.176007 m/s,
      posRepo size: 4

2025-06-27T19:42:56.395Z,1751053376.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:56.398Z,1751053376.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 159.818451 m,
      bearing: 264.354022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036107 deg/s,
      cmd heading: 253.061869 deg,
      new cmd heading: 253.112684 deg.

2025-06-27T19:42:56.404Z,1751053376.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417650 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:56.580Z,1751053376.580 [DAT](INFO): DAT read: TxSync time:19:42:55.1686

2025-06-27T19:42:56.752Z,1751053376.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:56.759Z,1751053376.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 159.515579 m,
      bearing: 264.371827 deg,
      approach rate: -0.830215 m/s,
      LOS rate: 0.048898 deg/s,
      cmd heading: 253.112686 deg,
      new cmd heading: 253.166202 deg.

2025-06-27T19:42:56.760Z,1751053376.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418584 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:57.239Z,1751053377.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:57.241Z,1751053377.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:57.244Z,1751053377.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 159.161896 m,
      bearing: 264.391786 deg,
      approach rate: -0.723474 m/s,
      LOS rate: 0.040917 deg/s,
      cmd heading: 253.166207 deg,
      new cmd heading: 253.226216 deg.

2025-06-27T19:42:57.245Z,1751053377.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419631 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:57.336Z,1751053377.336 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:42:57.336Z,1751053377.336 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:42:57.337Z,1751053377.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:42:57.587Z,1751053377.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231834
2025-06-27T19:42:57.608Z,1751053377.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:57.611Z,1751053377.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 158.893646 m,
      bearing: 264.406936 deg,
      approach rate: -0.730408 m/s,
      LOS rate: 0.041322 deg/s,
      cmd heading: 253.226204 deg,
      new cmd heading: 253.271731 deg.

2025-06-27T19:42:57.612Z,1751053377.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.420425 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:57.840Z,1751053377.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484115
2025-06-27T19:42:58.036Z,1751053378.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:58.039Z,1751053378.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 158.586670 m,
      bearing: 264.424210 deg,
      approach rate: -0.717947 m/s,
      LOS rate: 0.040478 deg/s,
      cmd heading: 253.271720 deg,
      new cmd heading: 253.323642 deg.

2025-06-27T19:42:58.040Z,1751053378.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421331 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:58.092Z,1751053378.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736719
2025-06-27T19:42:58.343Z,1751053378.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987759
2025-06-27T19:42:58.461Z,1751053378.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:58.467Z,1751053378.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 158.295807 m,
      bearing: 264.439895 deg,
      approach rate: -0.684870 m/s,
      LOS rate: 0.037001 deg/s,
      cmd heading: 253.323629 deg,
      new cmd heading: 253.370772 deg.

2025-06-27T19:42:58.468Z,1751053378.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422154 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:58.596Z,1751053378.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240249
2025-06-27T19:42:58.839Z,1751053378.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:58.841Z,1751053378.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 158.026093 m,
      bearing: 264.454491 deg,
      approach rate: -0.713657 m/s,
      LOS rate: 0.038686 deg/s,
      cmd heading: 253.370785 deg,
      new cmd heading: 253.414647 deg.

2025-06-27T19:42:58.842Z,1751053378.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422920 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:58.848Z,1751053378.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492096
2025-06-27T19:42:59.099Z,1751053379.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743754
2025-06-27T19:42:59.270Z,1751053379.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:42:59.272Z,1751053379.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:59.275Z,1751053379.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 157.717651 m,
      bearing: 264.469640 deg,
      approach rate: -0.710745 m/s,
      LOS rate: 0.034978 deg/s,
      cmd heading: 253.414635 deg,
      new cmd heading: 253.460173 deg.

2025-06-27T19:42:59.276Z,1751053379.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423715 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:59.351Z,1751053379.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995815
2025-06-27T19:42:59.605Z,1751053379.605 [DAT](INFO): DAT read: Rx Time:19:42:57.8167

2025-06-27T19:42:59.605Z,1751053379.605 [DAT](INFO): Rx dataTimestamp_ set to:1751053379.604952
2025-06-27T19:42:59.606Z,1751053379.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250169
2025-06-27T19:42:59.662Z,1751053379.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:42:59.679Z,1751053379.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 157.459625 m,
      bearing: 264.482161 deg,
      approach rate: -0.663933 m/s,
      LOS rate: 0.032269 deg/s,
      cmd heading: 253.460179 deg,
      new cmd heading: 253.497801 deg.

2025-06-27T19:42:59.680Z,1751053379.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.424371 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:42:59.855Z,1751053379.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499754
2025-06-27T19:43:00.043Z,1751053380.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.63 m.
2025-06-27T19:43:00.045Z,1751053380.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 182.626541 m,
      nav range: 157.169540 m,
      bearing: 264.496072 deg,
      approach rate: -0.760852 m/s,
      LOS rate: 0.036556 deg/s,
      cmd heading: 253.497799 deg,
      new cmd heading: 253.539612 deg.

2025-06-27T19:43:00.046Z,1751053380.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425101 target range: 182.626541 and range: 184.30 m.
2025-06-27T19:43:00.114Z,1751053380.114 [DAT](INFO): DAT read: 19:42:57.8168 LVL= 27344, 32753, 27474, 32755, AGC= 70, IDX= 423, 0.04, 1.211,-0.491, 0.804, 0.517, PHS= 0.782,-0.961, 0.283, RAW= 133.9,  -1.4, CAL= 139.3, -10.7, ROT=  10.7,  10.7

2025-06-27T19:43:00.115Z,1751053380.115 [DAT](INFO): got valid direction response:
 19:42:57.8168 LVL= 27344, 32753, 27474, 32755, AGC= 70, IDX= 423, 0.04, 1.211,-0.491, 0.804, 0.517, PHS= 0.782,-0.961, 0.283, RAW= 133.9,  -1.4, CAL= 139.3, -10.7, ROT=  10.7,  10.7

2025-06-27T19:43:00.116Z,1751053380.116 [DAT](INFO): DAT read: Bearing  10.7,  10.7 (Local)

2025-06-27T19:43:00.117Z,1751053380.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.7,  10.7 (Local)

2025-06-27T19:43:00.118Z,1751053380.118 [DAT](INFO): DAT read: Range 10 to 50 : 182.4 m  (Round-trip  243.2 ms) speed  0.9 m/s

2025-06-27T19:43:00.119Z,1751053380.119 [DAT](INFO): DAT read: user:2691>

2025-06-27T19:43:00.120Z,1751053380.120 [DAT](INFO): DAT read: Tx time:19:42:58.9195

2025-06-27T19:43:00.120Z,1751053380.120 [DAT](INFO): Ping request sent.
2025-06-27T19:43:00.120Z,1751053380.120 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:00.121Z,1751053380.121 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:00.122Z,1751053380.122 [DAT](INFO): direction in FSK: [0.965528,0.182438,-0.185667]
2025-06-27T19:43:00.122Z,1751053380.122 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:00.122Z,1751053380.122 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:00.125Z,1751053380.125 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:00.126Z,1751053380.126 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:00.360Z,1751053380.360 [DAT](INFO): DAT read: TxSync time:19:42:58.9187

2025-06-27T19:43:00.477Z,1751053380.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.399994 m,
      deltaT: 3.780750 s,
      deltaX: -1.900009 m,
      approachRate: -0.502548 m/s,
      rangeRepo size: 4

2025-06-27T19:43:00.479Z,1751053380.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.744080 m,
      bearing: 264.883069 deg,
      lat: 36.906922 deg,
      lon: -122.116738 deg,
      deltaT: 3.780750 s,
      deltaX: -1.882462 m,
      approachRate: -0.497907 m/s,
      posRepo size: 4

2025-06-27T19:43:00.480Z,1751053380.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:00.483Z,1751053380.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 178.136810 m,
      bearing: 265.167471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.036556 deg/s,
      cmd heading: 253.539600 deg,
      new cmd heading: 253.587178 deg.

2025-06-27T19:43:00.484Z,1751053380.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425931 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:00.844Z,1751053380.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:00.847Z,1751053380.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 177.874054 m,
      bearing: 265.179157 deg,
      approach rate: -0.714606 m/s,
      LOS rate: 0.031827 deg/s,
      cmd heading: 253.587165 deg,
      new cmd heading: 253.622273 deg.

2025-06-27T19:43:00.848Z,1751053380.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.426544 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:01.317Z,1751053381.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:01.319Z,1751053381.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:01.322Z,1751053381.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 177.536240 m,
      bearing: 265.195337 deg,
      approach rate: -0.710874 m/s,
      LOS rate: 0.034114 deg/s,
      cmd heading: 253.622273 deg,
      new cmd heading: 253.670906 deg.

2025-06-27T19:43:01.323Z,1751053381.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427392 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:01.368Z,1751053381.368 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:01.368Z,1751053381.368 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:01.368Z,1751053381.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:01.619Z,1751053381.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498964
2025-06-27T19:43:01.663Z,1751053381.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:01.665Z,1751053381.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 177.289215 m,
      bearing: 265.207144 deg,
      approach rate: -0.719695 m/s,
      LOS rate: 0.034449 deg/s,
      cmd heading: 253.670904 deg,
      new cmd heading: 253.706375 deg.

2025-06-27T19:43:01.666Z,1751053381.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428011 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:01.872Z,1751053381.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751417
2025-06-27T19:43:02.091Z,1751053382.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:02.098Z,1751053382.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 177.009811 m,
      bearing: 265.220419 deg,
      approach rate: -0.651099 m/s,
      LOS rate: 0.030983 deg/s,
      cmd heading: 253.706366 deg,
      new cmd heading: 253.746252 deg.

2025-06-27T19:43:02.099Z,1751053382.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.428708 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:02.123Z,1751053382.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003086
2025-06-27T19:43:02.375Z,1751053382.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254907
2025-06-27T19:43:02.539Z,1751053382.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:02.542Z,1751053382.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 176.652939 m,
      bearing: 265.238319 deg,
      approach rate: -0.796685 m/s,
      LOS rate: 0.040040 deg/s,
      cmd heading: 253.746254 deg,
      new cmd heading: 253.800062 deg.

2025-06-27T19:43:02.543Z,1751053382.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429646 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:02.628Z,1751053382.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507109
2025-06-27T19:43:02.871Z,1751053382.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:02.873Z,1751053382.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 176.409698 m,
      bearing: 265.250436 deg,
      approach rate: -0.735229 m/s,
      LOS rate: 0.036676 deg/s,
      cmd heading: 253.800049 deg,
      new cmd heading: 253.836450 deg.

2025-06-27T19:43:02.875Z,1751053382.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430282 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:02.879Z,1751053382.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759095
2025-06-27T19:43:03.131Z,1751053383.131 [DAT](INFO): DAT read: Rx Time:19:43:01.5631

2025-06-27T19:43:03.132Z,1751053383.132 [DAT](INFO): Rx dataTimestamp_ set to:1751053383.131561
2025-06-27T19:43:03.132Z,1751053383.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011988
2025-06-27T19:43:03.342Z,1751053383.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:03.344Z,1751053383.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:03.383Z,1751053383.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263063
2025-06-27T19:43:03.391Z,1751053383.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 176.064163 m,
      bearing: 265.268154 deg,
      approach rate: -0.728860 m/s,
      LOS rate: 0.037448 deg/s,
      cmd heading: 253.836440 deg,
      new cmd heading: 253.889700 deg.

2025-06-27T19:43:03.392Z,1751053383.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431211 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:03.635Z,1751053383.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515026
2025-06-27T19:43:03.753Z,1751053383.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.74 m.
2025-06-27T19:43:03.756Z,1751053383.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.744080 m,
      nav range: 175.765198 m,
      bearing: 265.283425 deg,
      approach rate: -0.731253 m/s,
      LOS rate: 0.037414 deg/s,
      cmd heading: 253.889688 deg,
      new cmd heading: 253.935577 deg.

2025-06-27T19:43:03.757Z,1751053383.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432012 target range: 180.744080 and range: 182.40 m.
2025-06-27T19:43:03.893Z,1751053383.893 [DAT](INFO): DAT read: 19:43:01.5631 LVL= 27600, 32753, 28082, 32755, AGC= 66, IDX= 400, 0.46, 3.099, 1.619, 2.744, 2.416, PHS= 0.772,-0.750, 0.325, RAW= 133.4,  -5.2, CAL= 138.9, -15.9, ROT=  11.1,  15.9

2025-06-27T19:43:03.898Z,1751053383.898 [DAT](INFO): got valid direction response:
 19:43:01.5631 LVL= 27600, 32753, 28082, 32755, AGC= 66, IDX= 400, 0.46, 3.099, 1.619, 2.744, 2.416, PHS= 0.772,-0.750, 0.325, RAW= 133.4,  -5.2, CAL= 138.9, -15.9, ROT=  11.1,  15.9

2025-06-27T19:43:03.915Z,1751053383.915 [DAT](INFO): DAT read: Bearing  11.1,  15.9 (Local)

2025-06-27T19:43:03.915Z,1751053383.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.1,  15.9 (Local)

2025-06-27T19:43:03.917Z,1751053383.917 [DAT](INFO): DAT read: Range 10 to 50 : 179.6 m  (Round-trip  239.5 ms) speed  0.4 m/s

2025-06-27T19:43:03.918Z,1751053383.918 [DAT](INFO): DAT read: user:2692>

2025-06-27T19:43:03.919Z,1751053383.919 [DAT](INFO): DAT read: Tx time:19:43:02.6695

2025-06-27T19:43:03.919Z,1751053383.919 [DAT](INFO): Ping request sent.
2025-06-27T19:43:03.919Z,1751053383.919 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:03.920Z,1751053383.920 [DAT](INFO): DAT read: TxSync time:19:43:02.6687

2025-06-27T19:43:03.920Z,1751053383.920 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:03.921Z,1751053383.921 [DAT](INFO): direction in FSK: [0.943750,0.185156,-0.273959]
2025-06-27T19:43:03.921Z,1751053383.921 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:03.922Z,1751053383.922 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:03.932Z,1751053383.932 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:03.932Z,1751053383.932 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:04.133Z,1751053384.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.600006 m,
      deltaT: 3.779169 s,
      deltaX: -2.799988 m,
      approachRate: -0.740900 m/s,
      rangeRepo size: 4

2025-06-27T19:43:04.136Z,1751053384.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.969177 m,
      bearing: 266.108179 deg,
      lat: 36.906922 deg,
      lon: -122.116738 deg,
      deltaT: 3.779169 s,
      deltaX: -2.774902 m,
      approachRate: -0.734263 m/s,
      posRepo size: 4

2025-06-27T19:43:04.136Z,1751053384.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:04.140Z,1751053384.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 175.491028 m,
      bearing: 265.297474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037414 deg/s,
      cmd heading: 253.935587 deg,
      new cmd heading: 253.978184 deg.

2025-06-27T19:43:04.141Z,1751053384.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432755 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:04.534Z,1751053384.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:04.561Z,1751053384.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 175.191299 m,
      bearing: 265.316430 deg,
      approach rate: -0.746910 m/s,
      LOS rate: 0.047318 deg/s,
      cmd heading: 253.978180 deg,
      new cmd heading: 254.035145 deg.

2025-06-27T19:43:04.562Z,1751053384.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433750 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:04.965Z,1751053384.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:04.968Z,1751053384.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 174.892120 m,
      bearing: 265.335418 deg,
      approach rate: -0.693319 m/s,
      LOS rate: 0.044077 deg/s,
      cmd heading: 254.035144 deg,
      new cmd heading: 254.092204 deg.

2025-06-27T19:43:04.969Z,1751053384.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434746 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:05.373Z,1751053385.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:05.376Z,1751053385.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:05.383Z,1751053385.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 174.579407 m,
      bearing: 265.357773 deg,
      approach rate: -0.762030 m/s,
      LOS rate: 0.054573 deg/s,
      cmd heading: 254.092217 deg,
      new cmd heading: 254.159402 deg.

2025-06-27T19:43:05.384Z,1751053385.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435918 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:05.399Z,1751053385.399 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:05.399Z,1751053385.399 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:05.400Z,1751053385.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:05.651Z,1751053385.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732224
2025-06-27T19:43:05.743Z,1751053385.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:05.745Z,1751053385.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 174.306427 m,
      bearing: 265.377162 deg,
      approach rate: -0.778592 m/s,
      LOS rate: 0.055388 deg/s,
      cmd heading: 254.159399 deg,
      new cmd heading: 254.217657 deg.

2025-06-27T19:43:05.750Z,1751053385.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436935 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:05.905Z,1751053385.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985395
2025-06-27T19:43:06.140Z,1751053386.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:06.143Z,1751053386.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 173.998810 m,
      bearing: 265.398924 deg,
      approach rate: -0.743527 m/s,
      LOS rate: 0.052694 deg/s,
      cmd heading: 254.217646 deg,
      new cmd heading: 254.283050 deg.

2025-06-27T19:43:06.144Z,1751053386.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438076 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:06.155Z,1751053386.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236270
2025-06-27T19:43:06.408Z,1751053386.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488818
2025-06-27T19:43:06.592Z,1751053386.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:06.599Z,1751053386.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 173.675842 m,
      bearing: 265.421730 deg,
      approach rate: -0.714148 m/s,
      LOS rate: 0.050523 deg/s,
      cmd heading: 254.283052 deg,
      new cmd heading: 254.351599 deg.

2025-06-27T19:43:06.600Z,1751053386.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439273 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:06.660Z,1751053386.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741139
2025-06-27T19:43:06.911Z,1751053386.911 [DAT](INFO): DAT read: Rx Time:19:43:05.3105

2025-06-27T19:43:06.912Z,1751053386.912 [DAT](INFO): Rx dataTimestamp_ set to:1751053386.911619
2025-06-27T19:43:06.912Z,1751053386.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993354
2025-06-27T19:43:06.957Z,1751053386.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:06.964Z,1751053386.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 173.394455 m,
      bearing: 265.441434 deg,
      approach rate: -0.770884 m/s,
      LOS rate: 0.054067 deg/s,
      cmd heading: 254.351600 deg,
      new cmd heading: 254.410807 deg.

2025-06-27T19:43:06.965Z,1751053386.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440306 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:07.163Z,1751053387.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244203
2025-06-27T19:43:07.419Z,1751053387.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498705
2025-06-27T19:43:07.469Z,1751053387.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:07.475Z,1751053387.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.97 m.
2025-06-27T19:43:07.478Z,1751053387.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.969177 m,
      nav range: 173.000381 m,
      bearing: 265.469130 deg,
      approach rate: -0.760976 m/s,
      LOS rate: 0.053604 deg/s,
      cmd heading: 254.410804 deg,
      new cmd heading: 254.494081 deg.

2025-06-27T19:43:07.481Z,1751053387.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441760 target range: 177.969177 and range: 179.60 m.
2025-06-27T19:43:07.674Z,1751053387.674 [DAT](INFO): DAT read: 19:43:05.3105 LVL= 29408, 32753, 24482, 32755, AGC= 66, IDX=  95, 0.09,-0.130,-1.526,-0.492,-0.749, PHS= 0.707,-0.730, 0.254, RAW= 132.1,  -3.7, CAL= 137.5, -13.9, ROT=  12.5,  13.9

2025-06-27T19:43:07.675Z,1751053387.675 [DAT](INFO): got valid direction response:
 19:43:05.3105 LVL= 29408, 32753, 24482, 32755, AGC= 66, IDX=  95, 0.09,-0.130,-1.526,-0.492,-0.749, PHS= 0.707,-0.730, 0.254, RAW= 132.1,  -3.7, CAL= 137.5, -13.9, ROT=  12.5,  13.9

2025-06-27T19:43:07.676Z,1751053387.676 [DAT](INFO): DAT read: Bearing  12.5,  13.9 (Local)

2025-06-27T19:43:07.676Z,1751053387.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.5,  13.9 (Local)

2025-06-27T19:43:07.678Z,1751053387.678 [DAT](INFO): DAT read: Range 10 to 50 : 177.6 m  (Round-trip  236.9 ms) speed  0.9 m/s

2025-06-27T19:43:07.679Z,1751053387.679 [DAT](INFO): DAT read: user:2693>

2025-06-27T19:43:07.679Z,1751053387.679 [DAT](INFO): DAT read: Tx time:19:43:06.4195

2025-06-27T19:43:07.680Z,1751053387.680 [DAT](INFO): Ping request sent.
2025-06-27T19:43:07.680Z,1751053387.680 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:07.680Z,1751053387.680 [DAT](INFO): DAT read: TxSync time:19:43:06.4187

2025-06-27T19:43:07.681Z,1751053387.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:07.682Z,1751053387.682 [DAT](INFO): direction in FSK: [0.947707,0.210102,-0.240228]
2025-06-27T19:43:07.682Z,1751053387.682 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:07.683Z,1751053387.683 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:07.686Z,1751053387.686 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:07.686Z,1751053387.686 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:07.856Z,1751053387.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.600006 m,
      deltaT: 3.779961 s,
      deltaX: -2.000000 m,
      approachRate: -0.529106 m/s,
      rangeRepo size: 4

2025-06-27T19:43:07.863Z,1751053387.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.987137 m,
      bearing: 267.749234 deg,
      lat: 36.906931 deg,
      lon: -122.116738 deg,
      deltaT: 3.779961 s,
      deltaX: -1.982040 m,
      approachRate: -0.524355 m/s,
      posRepo size: 4

2025-06-27T19:43:07.863Z,1751053387.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:07.866Z,1751053387.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 172.652161 m,
      bearing: 265.836998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.053604 deg/s,
      cmd heading: 254.494078 deg,
      new cmd heading: 254.555280 deg.

2025-06-27T19:43:07.872Z,1751053387.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442828 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:08.207Z,1751053388.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:08.210Z,1751053388.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 172.366806 m,
      bearing: 265.857626 deg,
      approach rate: -0.812347 m/s,
      LOS rate: 0.058824 deg/s,
      cmd heading: 254.555276 deg,
      new cmd heading: 254.617266 deg.

2025-06-27T19:43:08.211Z,1751053388.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443910 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:08.622Z,1751053388.622 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  76.68,  69.21,  72.29
2025-06-27T19:43:08.652Z,1751053388.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:08.661Z,1751053388.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 172.029694 m,
      bearing: 265.882204 deg,
      approach rate: -0.757197 m/s,
      LOS rate: 0.055313 deg/s,
      cmd heading: 254.617267 deg,
      new cmd heading: 254.691145 deg.

2025-06-27T19:43:08.683Z,1751053388.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.445199 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:09.037Z,1751053389.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:09.040Z,1751053389.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 171.738266 m,
      bearing: 265.903529 deg,
      approach rate: -0.757894 m/s,
      LOS rate: 0.055553 deg/s,
      cmd heading: 254.691143 deg,
      new cmd heading: 254.755227 deg.

2025-06-27T19:43:09.041Z,1751053389.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446318 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:09.448Z,1751053389.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:09.450Z,1751053389.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 171.428986 m,
      bearing: 265.924210 deg,
      approach rate: -0.753150 m/s,
      LOS rate: 0.050451 deg/s,
      cmd heading: 254.755237 deg,
      new cmd heading: 254.817390 deg.

2025-06-27T19:43:09.451Z,1751053389.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447402 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:09.834Z,1751053389.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:09.836Z,1751053389.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:09.839Z,1751053389.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 171.136185 m,
      bearing: 265.943713 deg,
      approach rate: -0.753083 m/s,
      LOS rate: 0.050248 deg/s,
      cmd heading: 254.817392 deg,
      new cmd heading: 254.876001 deg.

2025-06-27T19:43:09.840Z,1751053389.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448425 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:09.935Z,1751053389.935 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:09.935Z,1751053389.935 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:09.936Z,1751053389.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:10.187Z,1751053390.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507491
2025-06-27T19:43:10.230Z,1751053390.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:10.233Z,1751053390.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 170.845428 m,
      bearing: 265.962998 deg,
      approach rate: -0.738485 m/s,
      LOS rate: 0.049064 deg/s,
      cmd heading: 254.875995 deg,
      new cmd heading: 254.933948 deg.

2025-06-27T19:43:10.234Z,1751053390.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449437 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:10.440Z,1751053390.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760015
2025-06-27T19:43:10.662Z,1751053390.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:10.685Z,1751053390.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 170.522980 m,
      bearing: 265.981425 deg,
      approach rate: -0.746577 m/s,
      LOS rate: 0.042745 deg/s,
      cmd heading: 254.933942 deg,
      new cmd heading: 254.989327 deg.

2025-06-27T19:43:10.686Z,1751053390.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450403 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:10.692Z,1751053390.692 [DAT](INFO): DAT read: Rx Time:19:43:09.0562

2025-06-27T19:43:10.692Z,1751053390.692 [DAT](INFO): Rx dataTimestamp_ set to:1751053390.691696
2025-06-27T19:43:10.693Z,1751053390.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012634
2025-06-27T19:43:10.943Z,1751053390.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263602
2025-06-27T19:43:11.042Z,1751053391.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.99 m.
2025-06-27T19:43:11.046Z,1751053391.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.987137 m,
      nav range: 170.237259 m,
      bearing: 265.997668 deg,
      approach rate: -0.751820 m/s,
      LOS rate: 0.042813 deg/s,
      cmd heading: 254.989321 deg,
      new cmd heading: 255.038133 deg.

2025-06-27T19:43:11.051Z,1751053391.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451255 target range: 175.987137 and range: 177.60 m.
2025-06-27T19:43:11.205Z,1751053391.205 [DAT](INFO): DAT read: 19:43:09.0562 LVL= 28960, 32753, 27170, 32755, AGC= 68, IDX=  70,-0.40,-2.790, 1.962,-3.081, 2.872, PHS= 0.709,-0.863, 0.327, RAW= 136.5,  -2.5, CAL= 141.8, -12.0, ROT=   8.2,  12.0

2025-06-27T19:43:11.206Z,1751053391.206 [DAT](INFO): got valid direction response:
 19:43:09.0562 LVL= 28960, 32753, 27170, 32755, AGC= 68, IDX=  70,-0.40,-2.790, 1.962,-3.081, 2.872, PHS= 0.709,-0.863, 0.327, RAW= 136.5,  -2.5, CAL= 141.8, -12.0, ROT=   8.2,  12.0

2025-06-27T19:43:11.207Z,1751053391.207 [DAT](INFO): DAT read: Bearing   8.2,  12.0 (Local)

2025-06-27T19:43:11.208Z,1751053391.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  12.0 (Local)

2025-06-27T19:43:11.209Z,1751053391.209 [DAT](INFO): DAT read: Range 10 to 50 : 174.4 m  (Round-trip  232.6 ms) speed  0.3 m/s

2025-06-27T19:43:11.210Z,1751053391.210 [DAT](INFO): DAT read: user:2694>

2025-06-27T19:43:11.219Z,1751053391.219 [DAT](INFO): DAT read: Tx time:19:43:10.1695

2025-06-27T19:43:11.219Z,1751053391.219 [DAT](INFO): Ping request sent.
2025-06-27T19:43:11.219Z,1751053391.219 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:11.220Z,1751053391.220 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:11.221Z,1751053391.221 [DAT](INFO): direction in FSK: [0.968147,0.139512,-0.207912]
2025-06-27T19:43:11.221Z,1751053391.221 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:11.221Z,1751053391.221 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:11.228Z,1751053391.228 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:11.229Z,1751053391.229 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:11.448Z,1751053391.448 [DAT](INFO): DAT read: TxSync time:19:43:10.1687

2025-06-27T19:43:11.503Z,1751053391.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 174.399994 m,
      deltaT: 3.528199 s,
      deltaX: -3.200012 m,
      approachRate: -0.906982 m/s,
      rangeRepo size: 4

2025-06-27T19:43:11.505Z,1751053391.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.816299 m,
      bearing: 263.690930 deg,
      lat: 36.906931 deg,
      lon: -122.116738 deg,
      deltaT: 3.528199 s,
      deltaX: -3.170837 m,
      approachRate: -0.898713 m/s,
      posRepo size: 4

2025-06-27T19:43:11.506Z,1751053391.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:11.509Z,1751053391.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 169.909302 m,
      bearing: 266.014377 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042813 deg/s,
      cmd heading: 255.038143 deg,
      new cmd heading: 255.097299 deg.

2025-06-27T19:43:11.510Z,1751053391.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452288 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:11.864Z,1751053391.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:11.867Z,1751053391.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:11.869Z,1751053391.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 169.650375 m,
      bearing: 266.027614 deg,
      approach rate: -0.711674 m/s,
      LOS rate: 0.036440 deg/s,
      cmd heading: 255.097293 deg,
      new cmd heading: 255.137066 deg.

2025-06-27T19:43:11.871Z,1751053391.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452982 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:11.951Z,1751053391.951 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:11.951Z,1751053391.951 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:11.952Z,1751053391.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:12.207Z,1751053392.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987971
2025-06-27T19:43:12.249Z,1751053392.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:12.252Z,1751053392.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 169.368820 m,
      bearing: 266.041962 deg,
      approach rate: -0.734895 m/s,
      LOS rate: 0.037512 deg/s,
      cmd heading: 255.137072 deg,
      new cmd heading: 255.180187 deg.

2025-06-27T19:43:12.253Z,1751053392.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453734 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:12.460Z,1751053392.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240418
2025-06-27T19:43:12.711Z,1751053392.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492208
2025-06-27T19:43:12.749Z,1751053392.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:12.760Z,1751053392.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 169.034576 m,
      bearing: 266.055352 deg,
      approach rate: -0.668862 m/s,
      LOS rate: 0.026849 deg/s,
      cmd heading: 255.180184 deg,
      new cmd heading: 255.220434 deg.

2025-06-27T19:43:12.761Z,1751053392.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454437 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:12.963Z,1751053392.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744009
2025-06-27T19:43:13.079Z,1751053393.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:13.081Z,1751053393.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 168.776016 m,
      bearing: 266.065312 deg,
      approach rate: -0.784843 m/s,
      LOS rate: 0.030278 deg/s,
      cmd heading: 255.220428 deg,
      new cmd heading: 255.250352 deg.

2025-06-27T19:43:13.083Z,1751053393.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454959 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:13.215Z,1751053393.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996020
2025-06-27T19:43:13.467Z,1751053393.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248050
2025-06-27T19:43:13.513Z,1751053393.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:13.517Z,1751053393.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 168.469925 m,
      bearing: 266.077450 deg,
      approach rate: -0.704204 m/s,
      LOS rate: 0.027975 deg/s,
      cmd heading: 255.250344 deg,
      new cmd heading: 255.286823 deg.

2025-06-27T19:43:13.518Z,1751053393.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455595 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:13.722Z,1751053393.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502933
2025-06-27T19:43:13.886Z,1751053393.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:13.888Z,1751053393.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:13.891Z,1751053393.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 168.206116 m,
      bearing: 266.087794 deg,
      approach rate: -0.703540 m/s,
      LOS rate: 0.027630 deg/s,
      cmd heading: 255.286817 deg,
      new cmd heading: 255.317898 deg.

2025-06-27T19:43:13.892Z,1751053393.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456138 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:13.973Z,1751053393.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753154
2025-06-27T19:43:14.223Z,1751053394.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004046
2025-06-27T19:43:14.289Z,1751053394.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:14.292Z,1751053394.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 167.923782 m,
      bearing: 266.098823 deg,
      approach rate: -0.704989 m/s,
      LOS rate: 0.027586 deg/s,
      cmd heading: 255.317908 deg,
      new cmd heading: 255.351050 deg.

2025-06-27T19:43:14.295Z,1751053394.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456717 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:14.475Z,1751053394.475 [DAT](INFO): DAT read: Rx Time:19:43:12.8039

2025-06-27T19:43:14.476Z,1751053394.476 [DAT](INFO): Rx dataTimestamp_ set to:1751053394.475556
2025-06-27T19:43:14.476Z,1751053394.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257112
2025-06-27T19:43:14.727Z,1751053394.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508146
2025-06-27T19:43:14.730Z,1751053394.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.82 m.
2025-06-27T19:43:14.733Z,1751053394.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.816299 m,
      nav range: 167.615646 m,
      bearing: 266.109676 deg,
      approach rate: -0.698582 m/s,
      LOS rate: 0.024652 deg/s,
      cmd heading: 255.351048 deg,
      new cmd heading: 255.383669 deg.

2025-06-27T19:43:14.734Z,1751053394.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457286 target range: 172.816299 and range: 174.40 m.
2025-06-27T19:43:14.989Z,1751053394.989 [DAT](INFO): DAT read: 19:43:12.8040 LVL= 22864, 32753, 22242, 32755, AGC= 65, IDX= 418,-0.33,-1.100,-2.537,-1.406,-1.637, PHS= 0.625,-0.853, 0.228, RAW= 135.0,  -0.0, CAL= 140.2,  -8.9, ROT=   9.8,   8.9

2025-06-27T19:43:14.990Z,1751053394.990 [DAT](INFO): got valid direction response:
 19:43:12.8040 LVL= 22864, 32753, 22242, 32755, AGC= 65, IDX= 418,-0.33,-1.100,-2.537,-1.406,-1.637, PHS= 0.625,-0.853, 0.228, RAW= 135.0,  -0.0, CAL= 140.2,  -8.9, ROT=   9.8,   8.9

2025-06-27T19:43:14.992Z,1751053394.992 [DAT](INFO): DAT read: Bearing   9.8,   8.9 (Local)

2025-06-27T19:43:14.994Z,1751053394.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,   8.9 (Local)

2025-06-27T19:43:14.999Z,1751053394.999 [DAT](INFO): DAT read: Range 10 to 50 : 172.6 m  (Round-trip  230.2 ms) speed  0.4 m/s

2025-06-27T19:43:15.000Z,1751053395.000 [DAT](INFO): DAT read: user:2695>

2025-06-27T19:43:15.001Z,1751053395.001 [DAT](INFO): DAT read: Tx time:19:43:13.9196

2025-06-27T19:43:15.001Z,1751053395.001 [DAT](INFO): Ping request sent.
2025-06-27T19:43:15.002Z,1751053395.002 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:15.002Z,1751053395.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:15.004Z,1751053395.004 [DAT](INFO): direction in FSK: [0.973543,0.168160,-0.154710]
2025-06-27T19:43:15.004Z,1751053395.004 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:15.005Z,1751053395.005 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:15.010Z,1751053395.010 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:15.010Z,1751053395.010 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:15.150Z,1751053395.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 172.600006 m,
      deltaT: 3.786609 s,
      deltaX: -1.799988 m,
      approachRate: -0.475356 m/s,
      rangeRepo size: 4

2025-06-27T19:43:15.156Z,1751053395.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.032593 m,
      bearing: 265.748767 deg,
      lat: 36.906920 deg,
      lon: -122.116741 deg,
      deltaT: 3.786609 s,
      deltaX: -1.783707 m,
      approachRate: -0.471056 m/s,
      posRepo size: 4

2025-06-27T19:43:15.157Z,1751053395.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:15.161Z,1751053395.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 167.640823 m,
      bearing: 265.699631 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024652 deg/s,
      cmd heading: 255.383669 deg,
      new cmd heading: 255.414686 deg.

2025-06-27T19:43:15.162Z,1751053395.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457827 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:15.236Z,1751053395.236 [DAT](INFO): DAT read: TxSync time:19:43:13.9188

2025-06-27T19:43:15.546Z,1751053395.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:15.549Z,1751053395.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 167.356308 m,
      bearing: 265.709803 deg,
      approach rate: -0.723996 m/s,
      LOS rate: 0.025929 deg/s,
      cmd heading: 255.414678 deg,
      new cmd heading: 255.445247 deg.

2025-06-27T19:43:15.550Z,1751053395.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458361 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:15.969Z,1751053395.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:15.971Z,1751053395.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:15.974Z,1751053395.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 167.038940 m,
      bearing: 265.721235 deg,
      approach rate: -0.739605 m/s,
      LOS rate: 0.026692 deg/s,
      cmd heading: 255.445250 deg,
      new cmd heading: 255.479611 deg.

2025-06-27T19:43:15.975Z,1751053395.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.458961 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:16.016Z,1751053396.016 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:16.017Z,1751053396.017 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:16.017Z,1751053396.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:16.267Z,1751053396.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265666
2025-06-27T19:43:16.371Z,1751053396.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:16.377Z,1751053396.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 166.779465 m,
      bearing: 265.730614 deg,
      approach rate: -0.657282 m/s,
      LOS rate: 0.023795 deg/s,
      cmd heading: 255.479620 deg,
      new cmd heading: 255.507801 deg.

2025-06-27T19:43:16.379Z,1751053396.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459452 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:16.520Z,1751053396.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518242
2025-06-27T19:43:16.771Z,1751053396.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769814
2025-06-27T19:43:16.780Z,1751053396.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:16.783Z,1751053396.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 166.464218 m,
      bearing: 265.743545 deg,
      approach rate: -0.760725 m/s,
      LOS rate: 0.031263 deg/s,
      cmd heading: 255.507787 deg,
      new cmd heading: 255.546654 deg.

2025-06-27T19:43:16.784Z,1751053396.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460131 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:17.024Z,1751053397.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022396
2025-06-27T19:43:17.146Z,1751053397.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:17.169Z,1751053397.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 166.201370 m,
      bearing: 265.754080 deg,
      approach rate: -0.719002 m/s,
      LOS rate: 0.028862 deg/s,
      cmd heading: 255.546665 deg,
      new cmd heading: 255.578318 deg.

2025-06-27T19:43:17.170Z,1751053397.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460683 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:17.275Z,1751053397.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273758
2025-06-27T19:43:17.527Z,1751053397.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525778
2025-06-27T19:43:17.555Z,1751053397.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:17.558Z,1751053397.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 165.912720 m,
      bearing: 265.768348 deg,
      approach rate: -0.707075 m/s,
      LOS rate: 0.035012 deg/s,
      cmd heading: 255.578329 deg,
      new cmd heading: 255.621209 deg.

2025-06-27T19:43:17.559Z,1751053397.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461432 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:17.779Z,1751053397.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777770
2025-06-27T19:43:17.932Z,1751053397.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:17.935Z,1751053397.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 165.645309 m,
      bearing: 265.781500 deg,
      approach rate: -0.707551 m/s,
      LOS rate: 0.034855 deg/s,
      cmd heading: 255.621196 deg,
      new cmd heading: 255.660715 deg.

2025-06-27T19:43:17.936Z,1751053397.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462121 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:18.032Z,1751053398.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029956
2025-06-27T19:43:18.283Z,1751053398.283 [DAT](INFO): DAT read: Rx Time:19:43:16.5504

2025-06-27T19:43:18.284Z,1751053398.284 [DAT](INFO): Rx dataTimestamp_ set to:1751053398.283562
2025-06-27T19:43:18.284Z,1751053398.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282801
2025-06-27T19:43:18.418Z,1751053398.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:18.420Z,1751053398.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.03 m.
2025-06-27T19:43:18.428Z,1751053398.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.032593 m,
      nav range: 165.345474 m,
      bearing: 265.796298 deg,
      approach rate: -0.614241 m/s,
      LOS rate: 0.030370 deg/s,
      cmd heading: 255.660702 deg,
      new cmd heading: 255.705176 deg.

2025-06-27T19:43:18.432Z,1751053398.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462897 target range: 171.032593 and range: 172.60 m.
2025-06-27T19:43:18.537Z,1751053398.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534839
2025-06-27T19:43:18.793Z,1751053398.793 [DAT](INFO): DAT read: 19:43:16.5504 LVL= 26544, 32753, 25106, 32755, AGC= 68, IDX= 398,-0.03,-2.772, 2.004,-3.098, 2.939, PHS= 0.660,-0.888, 0.244, RAW= 134.9,  -0.2, CAL= 140.2,  -9.2, ROT=   9.8,   9.2

2025-06-27T19:43:18.795Z,1751053398.795 [DAT](INFO): got valid direction response:
 19:43:16.5504 LVL= 26544, 32753, 25106, 32755, AGC= 68, IDX= 398,-0.03,-2.772, 2.004,-3.098, 2.939, PHS= 0.660,-0.888, 0.244, RAW= 134.9,  -0.2, CAL= 140.2,  -9.2, ROT=   9.8,   9.2

2025-06-27T19:43:18.796Z,1751053398.796 [DAT](INFO): DAT read: Bearing   9.8,   9.2 (Local)

2025-06-27T19:43:18.796Z,1751053398.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,   9.2 (Local)

2025-06-27T19:43:18.798Z,1751053398.798 [DAT](INFO): DAT read: Range 10 to 50 : 170.0 m  (Round-trip  226.7 ms) speed  1.0 m/s

2025-06-27T19:43:18.798Z,1751053398.798 [DAT](INFO): DAT read: user:2696>

2025-06-27T19:43:18.799Z,1751053398.799 [DAT](INFO): DAT read: Tx time:19:43:17.6696

2025-06-27T19:43:18.799Z,1751053398.799 [DAT](INFO): Ping request sent.
2025-06-27T19:43:18.799Z,1751053398.799 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:18.800Z,1751053398.800 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:18.801Z,1751053398.801 [DAT](INFO): direction in FSK: [0.972732,0.168020,-0.159881]
2025-06-27T19:43:18.801Z,1751053398.801 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:18.801Z,1751053398.801 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:18.815Z,1751053398.815 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:18.815Z,1751053398.815 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:18.852Z,1751053398.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 170.000000 m,
      deltaT: 3.805412 s,
      deltaX: -2.600006 m,
      approachRate: -0.683239 m/s,
      rangeRepo size: 4

2025-06-27T19:43:18.858Z,1751053398.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.455460 m,
      bearing: 266.100868 deg,
      lat: 36.906926 deg,
      lon: -122.116741 deg,
      deltaT: 3.805412 s,
      deltaX: -2.577133 m,
      approachRate: -0.677228 m/s,
      posRepo size: 4

2025-06-27T19:43:18.859Z,1751053398.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:18.862Z,1751053398.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 164.986877 m,
      bearing: 266.059039 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030370 deg/s,
      cmd heading: 255.705180 deg,
      new cmd heading: 255.744465 deg.

2025-06-27T19:43:18.867Z,1751053398.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463583 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:19.040Z,1751053399.040 [DAT](INFO): DAT read: TxSync time:19:43:17.6688

2025-06-27T19:43:19.205Z,1751053399.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:19.219Z,1751053399.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 164.697601 m,
      bearing: 266.076266 deg,
      approach rate: -0.818489 m/s,
      LOS rate: 0.048828 deg/s,
      cmd heading: 255.744467 deg,
      new cmd heading: 255.796238 deg.

2025-06-27T19:43:19.220Z,1751053399.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464487 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:19.620Z,1751053399.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:19.631Z,1751053399.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 164.411560 m,
      bearing: 266.096142 deg,
      approach rate: -0.689371 m/s,
      LOS rate: 0.047986 deg/s,
      cmd heading: 255.796240 deg,
      new cmd heading: 255.855973 deg.

2025-06-27T19:43:19.632Z,1751053399.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465529 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:19.991Z,1751053399.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:19.995Z,1751053399.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 164.128296 m,
      bearing: 266.115912 deg,
      approach rate: -0.764845 m/s,
      LOS rate: 0.053473 deg/s,
      cmd heading: 255.855963 deg,
      new cmd heading: 255.915375 deg.

2025-06-27T19:43:19.997Z,1751053399.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.466566 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:20.385Z,1751053400.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:20.388Z,1751053400.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 163.844055 m,
      bearing: 266.135782 deg,
      approach rate: -0.720374 m/s,
      LOS rate: 0.050445 deg/s,
      cmd heading: 255.915386 deg,
      new cmd heading: 255.975098 deg.

2025-06-27T19:43:20.389Z,1751053400.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467608 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:20.821Z,1751053400.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:20.823Z,1751053400.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:20.826Z,1751053400.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 163.520065 m,
      bearing: 266.158349 deg,
      approach rate: -0.739212 m/s,
      LOS rate: 0.051591 deg/s,
      cmd heading: 255.975109 deg,
      new cmd heading: 256.042944 deg.

2025-06-27T19:43:20.843Z,1751053400.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.468792 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:21.056Z,1751053401.056 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:21.056Z,1751053401.056 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:21.057Z,1751053401.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:21.204Z,1751053401.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:21.211Z,1751053401.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 163.246201 m,
      bearing: 266.177194 deg,
      approach rate: -0.718119 m/s,
      LOS rate: 0.049497 deg/s,
      cmd heading: 256.042946 deg,
      new cmd heading: 256.099576 deg.

2025-06-27T19:43:21.212Z,1751053401.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469781 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:21.309Z,1751053401.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508485
2025-06-27T19:43:21.559Z,1751053401.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759797
2025-06-27T19:43:21.649Z,1751053401.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:21.653Z,1751053401.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 162.912430 m,
      bearing: 266.199480 deg,
      approach rate: -0.750148 m/s,
      LOS rate: 0.050190 deg/s,
      cmd heading: 256.099582 deg,
      new cmd heading: 256.166576 deg.

2025-06-27T19:43:21.662Z,1751053401.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470950 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:21.811Z,1751053401.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011831
2025-06-27T19:43:22.020Z,1751053402.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:22.024Z,1751053402.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 162.612396 m,
      bearing: 266.219533 deg,
      approach rate: -0.810216 m/s,
      LOS rate: 0.054252 deg/s,
      cmd heading: 256.166573 deg,
      new cmd heading: 256.226843 deg.

2025-06-27T19:43:22.026Z,1751053402.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472002 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:22.064Z,1751053402.064 [DAT](INFO): DAT read: Rx Time:19:43:20.2967

2025-06-27T19:43:22.064Z,1751053402.064 [DAT](INFO): Rx dataTimestamp_ set to:1751053402.063743
2025-06-27T19:43:22.065Z,1751053402.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265051
2025-06-27T19:43:22.315Z,1751053402.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515794
2025-06-27T19:43:22.458Z,1751053402.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.46 m.
2025-06-27T19:43:22.461Z,1751053402.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.455460 m,
      nav range: 162.270462 m,
      bearing: 266.242432 deg,
      approach rate: -0.780834 m/s,
      LOS rate: 0.052403 deg/s,
      cmd heading: 256.226842 deg,
      new cmd heading: 256.295686 deg.

2025-06-27T19:43:22.461Z,1751053402.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473204 target range: 168.455460 and range: 170.00 m.
2025-06-27T19:43:22.573Z,1751053402.573 [DAT](INFO): DAT read: 19:43:20.2967 LVL= 27632, 29073, 20786, 29683, AGC= 64, IDX=  71,-0.32,-1.337,-2.747,-1.610,-1.925, PHS= 0.675,-0.776, 0.312, RAW= 136.1,  -3.3, CAL= 141.5, -13.0, ROT=   8.5,  13.0

2025-06-27T19:43:22.575Z,1751053402.575 [DAT](INFO): got valid direction response:
 19:43:20.2967 LVL= 27632, 29073, 20786, 29683, AGC= 64, IDX=  71,-0.32,-1.337,-2.747,-1.610,-1.925, PHS= 0.675,-0.776, 0.312, RAW= 136.1,  -3.3, CAL= 141.5, -13.0, ROT=   8.5,  13.0

2025-06-27T19:43:22.576Z,1751053402.576 [DAT](INFO): DAT read: Bearing   8.5,  13.0 (Local)

2025-06-27T19:43:22.576Z,1751053402.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  13.0 (Local)

2025-06-27T19:43:22.578Z,1751053402.578 [DAT](INFO): DAT read: Range 10 to 50 : 167.2 m  (Round-trip  223.0 ms) speed  0.8 m/s

2025-06-27T19:43:22.579Z,1751053402.579 [DAT](INFO): DAT read: user:2697>

2025-06-27T19:43:22.580Z,1751053402.580 [DAT](INFO): DAT read: Tx time:19:43:21.4196

2025-06-27T19:43:22.580Z,1751053402.580 [DAT](INFO): Ping request sent.
2025-06-27T19:43:22.580Z,1751053402.580 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:22.580Z,1751053402.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:22.581Z,1751053402.581 [DAT](INFO): direction in FSK: [0.963667,0.144021,-0.224951]
2025-06-27T19:43:22.582Z,1751053402.582 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:22.582Z,1751053402.582 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:22.585Z,1751053402.585 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:22.585Z,1751053402.585 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:22.820Z,1751053402.820 [DAT](INFO): DAT read: TxSync time:19:43:21.4188

2025-06-27T19:43:22.872Z,1751053402.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 167.199997 m,
      deltaT: 3.780086 s,
      deltaX: -2.800003 m,
      approachRate: -0.740725 m/s,
      rangeRepo size: 4

2025-06-27T19:43:22.878Z,1751053402.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.680161 m,
      bearing: 265.351363 deg,
      lat: 36.906920 deg,
      lon: -122.116741 deg,
      deltaT: 3.780086 s,
      deltaX: -2.775299 m,
      approachRate: -0.734189 m/s,
      posRepo size: 4

2025-06-27T19:43:22.879Z,1751053402.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:22.882Z,1751053402.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 162.015518 m,
      bearing: 266.014040 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.052403 deg/s,
      cmd heading: 256.295691 deg,
      new cmd heading: 256.360736 deg.

2025-06-27T19:43:22.889Z,1751053402.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474339 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:23.191Z,1751053403.191 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:43:23.235Z,1751053403.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:23.237Z,1751053403.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:23.245Z,1751053403.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 161.730667 m,
      bearing: 266.033636 deg,
      approach rate: -0.779609 m/s,
      LOS rate: 0.053727 deg/s,
      cmd heading: 256.360741 deg,
      new cmd heading: 256.419633 deg.

2025-06-27T19:43:23.247Z,1751053403.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475367 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:23.324Z,1751053403.324 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:23.325Z,1751053403.325 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:23.325Z,1751053403.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:23.578Z,1751053403.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997072
2025-06-27T19:43:23.650Z,1751053403.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:23.653Z,1751053403.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 161.392517 m,
      bearing: 266.055226 deg,
      approach rate: -0.818244 m/s,
      LOS rate: 0.052351 deg/s,
      cmd heading: 256.419645 deg,
      new cmd heading: 256.484548 deg.

2025-06-27T19:43:23.654Z,1751053403.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.476500 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:23.827Z,1751053403.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247270
2025-06-27T19:43:24.040Z,1751053404.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:24.043Z,1751053404.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 161.084549 m,
      bearing: 266.074971 deg,
      approach rate: -0.789126 m/s,
      LOS rate: 0.050690 deg/s,
      cmd heading: 256.484559 deg,
      new cmd heading: 256.543907 deg.

2025-06-27T19:43:24.044Z,1751053404.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477536 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:24.081Z,1751053404.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500133
2025-06-27T19:43:24.195Z,1751053404.195 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:43:24.331Z,1751053404.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751246
2025-06-27T19:43:24.432Z,1751053404.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:24.435Z,1751053404.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 160.780182 m,
      bearing: 266.094593 deg,
      approach rate: -0.776829 m/s,
      LOS rate: 0.050176 deg/s,
      cmd heading: 256.543900 deg,
      new cmd heading: 256.602878 deg.

2025-06-27T19:43:24.436Z,1751053404.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478565 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:24.584Z,1751053404.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003958
2025-06-27T19:43:24.835Z,1751053404.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255417
2025-06-27T19:43:24.876Z,1751053404.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:24.883Z,1751053404.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 160.449966 m,
      bearing: 266.116254 deg,
      approach rate: -0.743340 m/s,
      LOS rate: 0.048861 deg/s,
      cmd heading: 256.602885 deg,
      new cmd heading: 256.668002 deg.

2025-06-27T19:43:24.884Z,1751053404.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479702 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:25.087Z,1751053405.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507341
2025-06-27T19:43:25.237Z,1751053405.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:25.240Z,1751053405.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:25.243Z,1751053405.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 160.153412 m,
      bearing: 266.135826 deg,
      approach rate: -0.815636 m/s,
      LOS rate: 0.053930 deg/s,
      cmd heading: 256.667991 deg,
      new cmd heading: 256.726815 deg.

2025-06-27T19:43:25.244Z,1751053405.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.480728 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:25.339Z,1751053405.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759416
2025-06-27T19:43:25.596Z,1751053405.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014945
2025-06-27T19:43:25.683Z,1751053405.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:25.686Z,1751053405.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 159.816589 m,
      bearing: 266.156755 deg,
      approach rate: -0.760015 m/s,
      LOS rate: 0.047325 deg/s,
      cmd heading: 256.726812 deg,
      new cmd heading: 256.789732 deg.

2025-06-27T19:43:25.687Z,1751053405.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481826 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:25.843Z,1751053405.843 [DAT](INFO): DAT read: Rx Time:19:43:24.0440

2025-06-27T19:43:25.844Z,1751053405.844 [DAT](INFO): Rx dataTimestamp_ set to:1751053405.843523
2025-06-27T19:43:25.844Z,1751053405.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264308
2025-06-27T19:43:26.051Z,1751053406.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:26.054Z,1751053406.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 159.542328 m,
      bearing: 266.173773 deg,
      approach rate: -0.745572 m/s,
      LOS rate: 0.046343 deg/s,
      cmd heading: 256.789732 deg,
      new cmd heading: 256.840874 deg.

2025-06-27T19:43:26.075Z,1751053406.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482719 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:26.096Z,1751053406.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515689
2025-06-27T19:43:26.347Z,1751053406.347 [DAT](INFO): DAT read: 

2025-06-27T19:43:26.348Z,1751053406.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767723
2025-06-27T19:43:26.488Z,1751053406.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:26.490Z,1751053406.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 159.206696 m,
      bearing: 266.194292 deg,
      approach rate: -0.768614 m/s,
      LOS rate: 0.047087 deg/s,
      cmd heading: 256.840876 deg,
      new cmd heading: 256.902562 deg.

2025-06-27T19:43:26.491Z,1751053406.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483796 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:26.603Z,1751053406.603 [DAT](INFO): DAT read: TxSync time:19:43:25.1689

2025-06-27T19:43:26.605Z,1751053406.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024419
2025-06-27T19:43:26.851Z,1751053406.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271170
2025-06-27T19:43:26.918Z,1751053406.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:26.921Z,1751053406.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 158.888367 m,
      bearing: 266.213255 deg,
      approach rate: -0.739627 m/s,
      LOS rate: 0.044149 deg/s,
      cmd heading: 256.902567 deg,
      new cmd heading: 256.959571 deg.

2025-06-27T19:43:26.922Z,1751053406.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484790 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:27.107Z,1751053407.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526351
2025-06-27T19:43:27.302Z,1751053407.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:27.304Z,1751053407.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:27.308Z,1751053407.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 158.602814 m,
      bearing: 266.230331 deg,
      approach rate: -0.739740 m/s,
      LOS rate: 0.044315 deg/s,
      cmd heading: 256.959558 deg,
      new cmd heading: 257.010877 deg.

2025-06-27T19:43:27.309Z,1751053407.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485686 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:27.356Z,1751053407.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775516
2025-06-27T19:43:27.610Z,1751053407.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029363
2025-06-27T19:43:27.725Z,1751053407.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:27.728Z,1751053407.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 158.308121 m,
      bearing: 266.247423 deg,
      approach rate: -0.700215 m/s,
      LOS rate: 0.040688 deg/s,
      cmd heading: 257.010866 deg,
      new cmd heading: 257.062238 deg.

2025-06-27T19:43:27.729Z,1751053407.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486582 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:27.861Z,1751053407.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280487
2025-06-27T19:43:28.092Z,1751053408.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:28.095Z,1751053408.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 158.050018 m,
      bearing: 266.262160 deg,
      approach rate: -0.702746 m/s,
      LOS rate: 0.040190 deg/s,
      cmd heading: 257.062229 deg,
      new cmd heading: 257.106511 deg.

2025-06-27T19:43:28.096Z,1751053408.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487355 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:28.111Z,1751053408.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531349
2025-06-27T19:43:28.363Z,1751053408.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783237
2025-06-27T19:43:28.516Z,1751053408.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:28.519Z,1751053408.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 157.759445 m,
      bearing: 266.278470 deg,
      approach rate: -0.688603 m/s,
      LOS rate: 0.038722 deg/s,
      cmd heading: 257.106516 deg,
      new cmd heading: 257.155535 deg.

2025-06-27T19:43:28.520Z,1751053408.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488211 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:28.618Z,1751053408.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037730
2025-06-27T19:43:28.867Z,1751053408.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287124
2025-06-27T19:43:28.931Z,1751053408.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:28.934Z,1751053408.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 157.469711 m,
      bearing: 266.291495 deg,
      approach rate: -0.695052 m/s,
      LOS rate: 0.031304 deg/s,
      cmd heading: 257.155529 deg,
      new cmd heading: 257.194677 deg.

2025-06-27T19:43:28.935Z,1751053408.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488894 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:29.122Z,1751053409.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542205
2025-06-27T19:43:29.415Z,1751053409.415 [DAT](INFO): DAT read: Rx Time:19:43:27.7906

2025-06-27T19:43:29.415Z,1751053409.415 [DAT](INFO): Rx dataTimestamp_ set to:1751053409.415050
2025-06-27T19:43:29.416Z,1751053409.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.835833
2025-06-27T19:43:29.455Z,1751053409.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:29.458Z,1751053409.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:29.464Z,1751053409.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 157.126694 m,
      bearing: 266.306582 deg,
      approach rate: -0.651371 m/s,
      LOS rate: 0.028712 deg/s,
      cmd heading: 257.194680 deg,
      new cmd heading: 257.240040 deg.

2025-06-27T19:43:29.465Z,1751053409.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489686 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:29.626Z,1751053409.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045350
2025-06-27T19:43:29.805Z,1751053409.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:29.812Z,1751053409.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 156.882721 m,
      bearing: 266.316580 deg,
      approach rate: -0.701930 m/s,
      LOS rate: 0.028810 deg/s,
      cmd heading: 257.240033 deg,
      new cmd heading: 257.270074 deg.

2025-06-27T19:43:29.813Z,1751053409.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490210 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:29.879Z,1751053409.879 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:43:29.880Z,1751053409.880 [DAT](INFO): Received a bad header
2025-06-27T19:43:29.896Z,1751053409.896 [DAT](INFO): DAT read: der stats CRC:Fail PSNR:05.6 CCERR:006 Mod:MFSK

2025-06-27T19:43:29.896Z,1751053409.896 [DAT](INFO): unknown deviceResponse_: der stats CRC:Fail PSNR:05.6 CCERR:006 Mod:MFSK

2025-06-27T19:43:29.897Z,1751053409.897 [DAT](INFO): DAT read: 

2025-06-27T19:43:29.898Z,1751053409.898 [DAT](INFO): DAT read: user:2699>

2025-06-27T19:43:29.899Z,1751053409.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318956
2025-06-27T19:43:30.127Z,1751053410.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.547353
2025-06-27T19:43:30.170Z,1751053410.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:30.173Z,1751053410.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 156.631714 m,
      bearing: 266.326674 deg,
      approach rate: -0.688162 m/s,
      LOS rate: 0.027717 deg/s,
      cmd heading: 257.270085 deg,
      new cmd heading: 257.300415 deg.

2025-06-27T19:43:30.174Z,1751053410.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490739 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:30.379Z,1751053410.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799411
2025-06-27T19:43:30.579Z,1751053410.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:30.582Z,1751053410.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 156.367554 m,
      bearing: 266.337112 deg,
      approach rate: -0.645657 m/s,
      LOS rate: 0.025555 deg/s,
      cmd heading: 257.300411 deg,
      new cmd heading: 257.331778 deg.

2025-06-27T19:43:30.588Z,1751053410.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491287 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:30.634Z,1751053410.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053588
2025-06-27T19:43:30.883Z,1751053410.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303335
2025-06-27T19:43:30.974Z,1751053410.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:30.977Z,1751053410.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 156.085129 m,
      bearing: 266.344481 deg,
      approach rate: -0.715540 m/s,
      LOS rate: 0.018705 deg/s,
      cmd heading: 257.331776 deg,
      new cmd heading: 257.353925 deg.

2025-06-27T19:43:30.978Z,1751053410.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491673 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:31.135Z,1751053411.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555266
2025-06-27T19:43:31.360Z,1751053411.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:31.363Z,1751053411.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 155.819321 m,
      bearing: 266.351298 deg,
      approach rate: -0.688102 m/s,
      LOS rate: 0.017676 deg/s,
      cmd heading: 257.353933 deg,
      new cmd heading: 257.374417 deg.

2025-06-27T19:43:31.364Z,1751053411.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492031 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:31.397Z,1751053411.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816146
2025-06-27T19:43:31.650Z,1751053411.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069387
2025-06-27T19:43:31.782Z,1751053411.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:31.784Z,1751053411.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:31.788Z,1751053411.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 155.524033 m,
      bearing: 266.358718 deg,
      approach rate: -0.696152 m/s,
      LOS rate: 0.017526 deg/s,
      cmd heading: 257.374423 deg,
      new cmd heading: 257.396726 deg.

2025-06-27T19:43:31.789Z,1751053411.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492420 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:31.900Z,1751053411.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319462
2025-06-27T19:43:32.151Z,1751053412.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571324
2025-06-27T19:43:32.176Z,1751053412.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:32.179Z,1751053412.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 155.262711 m,
      bearing: 266.365236 deg,
      approach rate: -0.667058 m/s,
      LOS rate: 0.016667 deg/s,
      cmd heading: 257.396717 deg,
      new cmd heading: 257.416305 deg.

2025-06-27T19:43:32.180Z,1751053412.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492762 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:32.404Z,1751053412.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823558
2025-06-27T19:43:32.589Z,1751053412.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:32.593Z,1751053412.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 154.975784 m,
      bearing: 266.372385 deg,
      approach rate: -0.699522 m/s,
      LOS rate: 0.017462 deg/s,
      cmd heading: 257.416306 deg,
      new cmd heading: 257.437793 deg.

2025-06-27T19:43:32.594Z,1751053412.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493137 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:32.658Z,1751053412.658 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:32.659Z,1751053412.659 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:32.660Z,1751053412.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:32.907Z,1751053412.907 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:32.907Z,1751053412.907 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:32.907Z,1751053412.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:33.078Z,1751053413.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:33.080Z,1751053413.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 154.611954 m,
      bearing: 266.381390 deg,
      approach rate: -0.740450 m/s,
      LOS rate: 0.018369 deg/s,
      cmd heading: 257.437780 deg,
      new cmd heading: 257.464858 deg.

2025-06-27T19:43:33.081Z,1751053413.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493609 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:33.160Z,1751053413.160 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:33.160Z,1751053413.160 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:33.160Z,1751053413.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:33.378Z,1751053413.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:33.381Z,1751053413.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 154.393921 m,
      bearing: 266.386852 deg,
      approach rate: -0.725214 m/s,
      LOS rate: 0.018194 deg/s,
      cmd heading: 257.464855 deg,
      new cmd heading: 257.481265 deg.

2025-06-27T19:43:33.382Z,1751053413.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493896 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:33.412Z,1751053413.412 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:33.412Z,1751053413.412 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:33.413Z,1751053413.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:33.665Z,1751053413.665 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:33.666Z,1751053413.666 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:33.667Z,1751053413.667 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:33.796Z,1751053413.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:33.798Z,1751053413.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:33.801Z,1751053413.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 154.084320 m,
      bearing: 266.396609 deg,
      approach rate: -0.737429 m/s,
      LOS rate: 0.023285 deg/s,
      cmd heading: 257.481275 deg,
      new cmd heading: 257.510603 deg.

2025-06-27T19:43:33.802Z,1751053413.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494408 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:33.915Z,1751053413.915 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:33.916Z,1751053413.916 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:33.916Z,1751053413.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:34.167Z,1751053414.167 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:34.167Z,1751053414.167 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:34.168Z,1751053414.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:34.201Z,1751053414.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:34.204Z,1751053414.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 153.786163 m,
      bearing: 266.406051 deg,
      approach rate: -0.739117 m/s,
      LOS rate: 0.023452 deg/s,
      cmd heading: 257.510590 deg,
      new cmd heading: 257.538972 deg.

2025-06-27T19:43:34.205Z,1751053414.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494903 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:34.419Z,1751053414.419 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:34.419Z,1751053414.419 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:34.420Z,1751053414.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:34.590Z,1751053414.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:34.593Z,1751053414.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 153.499191 m,
      bearing: 266.415168 deg,
      approach rate: -0.738294 m/s,
      LOS rate: 0.023500 deg/s,
      cmd heading: 257.538976 deg,
      new cmd heading: 257.566379 deg.

2025-06-27T19:43:34.594Z,1751053414.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495381 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:34.673Z,1751053414.673 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:34.674Z,1751053414.674 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:34.675Z,1751053414.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:34.923Z,1751053414.923 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:34.923Z,1751053414.923 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:34.924Z,1751053414.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:35.037Z,1751053415.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:35.040Z,1751053415.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 153.162552 m,
      bearing: 266.428482 deg,
      approach rate: -0.752563 m/s,
      LOS rate: 0.029829 deg/s,
      cmd heading: 257.566379 deg,
      new cmd heading: 257.606408 deg.

2025-06-27T19:43:35.041Z,1751053415.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496080 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:35.175Z,1751053415.175 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:35.175Z,1751053415.175 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:35.175Z,1751053415.175 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:35.393Z,1751053415.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:35.395Z,1751053415.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 152.895111 m,
      bearing: 266.439084 deg,
      approach rate: -0.753017 m/s,
      LOS rate: 0.029903 deg/s,
      cmd heading: 257.606404 deg,
      new cmd heading: 257.638265 deg.

2025-06-27T19:43:35.396Z,1751053415.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496636 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:35.427Z,1751053415.427 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:35.428Z,1751053415.428 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:35.428Z,1751053415.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:35.680Z,1751053415.680 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:35.680Z,1751053415.680 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:35.680Z,1751053415.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:35.825Z,1751053415.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:35.827Z,1751053415.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:35.830Z,1751053415.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 152.570404 m,
      bearing: 266.454898 deg,
      approach rate: -0.747487 m/s,
      LOS rate: 0.036483 deg/s,
      cmd heading: 257.638260 deg,
      new cmd heading: 257.685804 deg.

2025-06-27T19:43:35.831Z,1751053415.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497466 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:35.931Z,1751053415.931 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:35.931Z,1751053415.931 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:35.932Z,1751053415.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:36.183Z,1751053416.183 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:36.183Z,1751053416.183 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:36.184Z,1751053416.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:36.203Z,1751053416.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:36.205Z,1751053416.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 152.288422 m,
      bearing: 266.468656 deg,
      approach rate: -0.750726 m/s,
      LOS rate: 0.036695 deg/s,
      cmd heading: 257.685798 deg,
      new cmd heading: 257.727148 deg.

2025-06-27T19:43:36.207Z,1751053416.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498187 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:36.435Z,1751053416.435 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:36.435Z,1751053416.435 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:36.436Z,1751053416.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:36.610Z,1751053416.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:36.613Z,1751053416.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 151.983185 m,
      bearing: 266.483564 deg,
      approach rate: -0.748941 m/s,
      LOS rate: 0.036653 deg/s,
      cmd heading: 257.727134 deg,
      new cmd heading: 257.771949 deg.

2025-06-27T19:43:36.614Z,1751053416.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498969 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:36.688Z,1751053416.688 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:36.688Z,1751053416.688 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:36.688Z,1751053416.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:36.939Z,1751053416.939 [DAT](INFO): Reached modem response timeout
2025-06-27T19:43:36.939Z,1751053416.939 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:43:36.939Z,1751053416.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:37.044Z,1751053417.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:37.047Z,1751053417.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 151.655548 m,
      bearing: 266.503497 deg,
      approach rate: -0.755099 m/s,
      LOS rate: 0.046038 deg/s,
      cmd heading: 257.771940 deg,
      new cmd heading: 257.831868 deg.

2025-06-27T19:43:37.048Z,1751053417.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500015 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:37.192Z,1751053417.192 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:43:37.192Z,1751053417.192 [DAT](INFO): response not received
2025-06-27T19:43:37.192Z,1751053417.192 [DAT](INFO): DAT read: user:2700>

2025-06-27T19:43:37.193Z,1751053417.193 [DAT](INFO): DAT read: Tx time:19:43:36.1198

2025-06-27T19:43:37.193Z,1751053417.193 [DAT](INFO): Ping request sent.
2025-06-27T19:43:37.193Z,1751053417.193 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:37.194Z,1751053417.194 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:37.195Z,1751053417.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-06-27T19:43:37.419Z,1751053417.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:37.421Z,1751053417.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 151.373093 m,
      bearing: 266.520725 deg,
      approach rate: -0.754125 m/s,
      LOS rate: 0.046082 deg/s,
      cmd heading: 257.831855 deg,
      new cmd heading: 257.883634 deg.

2025-06-27T19:43:37.423Z,1751053417.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500918 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:37.444Z,1751053417.444 [DAT](INFO): DAT read: TxSync time:19:43:36.1190

2025-06-27T19:43:37.444Z,1751053417.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895
2025-06-27T19:43:37.695Z,1751053417.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502070
2025-06-27T19:43:37.845Z,1751053417.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:37.847Z,1751053417.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:37.850Z,1751053417.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 151.052490 m,
      bearing: 266.540148 deg,
      approach rate: -0.748267 m/s,
      LOS rate: 0.045429 deg/s,
      cmd heading: 257.883628 deg,
      new cmd heading: 257.942022 deg.

2025-06-27T19:43:37.851Z,1751053417.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501937 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:37.948Z,1751053417.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754233
2025-06-27T19:43:38.199Z,1751053418.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005806
2025-06-27T19:43:38.220Z,1751053418.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:38.223Z,1751053418.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 150.772629 m,
      bearing: 266.557254 deg,
      approach rate: -0.749901 m/s,
      LOS rate: 0.045922 deg/s,
      cmd heading: 257.942012 deg,
      new cmd heading: 257.993426 deg.

2025-06-27T19:43:38.224Z,1751053418.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502835 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:38.452Z,1751053418.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258228
2025-06-27T19:43:38.640Z,1751053418.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:38.643Z,1751053418.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 150.458740 m,
      bearing: 266.576516 deg,
      approach rate: -0.748212 m/s,
      LOS rate: 0.046010 deg/s,
      cmd heading: 257.993430 deg,
      new cmd heading: 258.051336 deg.

2025-06-27T19:43:38.644Z,1751053418.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503845 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:38.704Z,1751053418.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510335
2025-06-27T19:43:38.955Z,1751053418.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761903
2025-06-27T19:43:39.086Z,1751053419.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:39.097Z,1751053419.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 150.139328 m,
      bearing: 266.595571 deg,
      approach rate: -0.715965 m/s,
      LOS rate: 0.042802 deg/s,
      cmd heading: 258.051322 deg,
      new cmd heading: 258.108608 deg.

2025-06-27T19:43:39.098Z,1751053419.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504845 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:39.208Z,1751053419.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014118
2025-06-27T19:43:39.452Z,1751053419.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:39.455Z,1751053419.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 149.841278 m,
      bearing: 266.613424 deg,
      approach rate: -0.813277 m/s,
      LOS rate: 0.048812 deg/s,
      cmd heading: 258.108614 deg,
      new cmd heading: 258.162279 deg.

2025-06-27T19:43:39.456Z,1751053419.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505782 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:39.459Z,1751053419.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266099
2025-06-27T19:43:39.711Z,1751053419.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517876
2025-06-27T19:43:39.877Z,1751053419.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:39.879Z,1751053419.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:39.882Z,1751053419.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 149.517242 m,
      bearing: 266.632274 deg,
      approach rate: -0.758784 m/s,
      LOS rate: 0.044236 deg/s,
      cmd heading: 258.162272 deg,
      new cmd heading: 258.218944 deg.

2025-06-27T19:43:39.883Z,1751053419.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506771 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:39.964Z,1751053419.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771039
2025-06-27T19:43:40.215Z,1751053420.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022086
2025-06-27T19:43:40.287Z,1751053420.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:40.289Z,1751053420.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 149.216309 m,
      bearing: 266.649742 deg,
      approach rate: -0.746766 m/s,
      LOS rate: 0.043435 deg/s,
      cmd heading: 258.218935 deg,
      new cmd heading: 258.271446 deg.

2025-06-27T19:43:40.290Z,1751053420.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507687 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:40.467Z,1751053420.467 [DAT](INFO): DAT read: Rx Time:19:43:38.6956

2025-06-27T19:43:40.468Z,1751053420.468 [DAT](INFO): Rx dataTimestamp_ set to:1751053420.467510
2025-06-27T19:43:40.468Z,1751053420.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274947
2025-06-27T19:43:40.644Z,1751053420.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.68 m.
2025-06-27T19:43:40.646Z,1751053420.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.680161 m,
      nav range: 148.935181 m,
      bearing: 266.666064 deg,
      approach rate: -0.778383 m/s,
      LOS rate: 0.045277 deg/s,
      cmd heading: 258.271446 deg,
      new cmd heading: 258.320503 deg.

2025-06-27T19:43:40.647Z,1751053420.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508543 target range: 165.680161 and range: 167.20 m.
2025-06-27T19:43:40.722Z,1751053420.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528274
2025-06-27T19:43:40.981Z,1751053420.981 [DAT](INFO): DAT read: 19:43:38.6956 LVL= 32096, 32753, 27042, 32755, AGC= 68, IDX= 490,-0.05, 2.405, 1.002, 2.233, 1.861, PHS= 0.632,-0.813, 0.369, RAW= 140.2,  -2.9, CAL= 145.3, -12.2, ROT=   4.7,  12.2

2025-06-27T19:43:40.982Z,1751053420.982 [DAT](INFO): got valid direction response:
 19:43:38.6956 LVL= 32096, 32753, 27042, 32755, AGC= 68, IDX= 490,-0.05, 2.405, 1.002, 2.233, 1.861, PHS= 0.632,-0.813, 0.369, RAW= 140.2,  -2.9, CAL= 145.3, -12.2, ROT=   4.7,  12.2

2025-06-27T19:43:40.984Z,1751053420.984 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m  (Round-trip  171.6 ms) speed  0.4 m/s

2025-06-27T19:43:40.984Z,1751053420.984 [DAT](INFO): DAT read: user:2701>

2025-06-27T19:43:40.985Z,1751053420.985 [DAT](INFO): DAT read: Tx time:19:43:39.8198

2025-06-27T19:43:40.985Z,1751053420.985 [DAT](INFO): Ping request sent.
2025-06-27T19:43:40.986Z,1751053420.986 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:40.986Z,1751053420.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:40.987Z,1751053420.987 [DAT](INFO): direction in FSK: [0.974129,0.080088,-0.211325]
2025-06-27T19:43:40.988Z,1751053420.988 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:40.988Z,1751053420.988 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:40.994Z,1751053420.994 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:40.994Z,1751053420.994 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:41.175Z,1751053421.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.699997 m,
      deltaT: 18.407786 s,
      deltaX: -38.500000 m,
      approachRate: -2.091506 m/s,
      rangeRepo size: 4

2025-06-27T19:43:41.177Z,1751053421.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.530251 m,
      bearing: 263.734596 deg,
      lat: 36.906903 deg,
      lon: -122.116740 deg,
      deltaT: 18.407786 s,
      deltaX: -38.149910 m,
      approachRate: -2.072488 m/s,
      posRepo size: 4

2025-06-27T19:43:41.178Z,1751053421.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:41.184Z,1751053421.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 148.588333 m,
      bearing: 265.966176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045277 deg/s,
      cmd heading: 258.320514 deg,
      new cmd heading: 258.392011 deg.

2025-06-27T19:43:41.185Z,1751053421.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509791 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:41.227Z,1751053421.227 [DAT](INFO): DAT read: TxSync time:19:43:39.8190

2025-06-27T19:43:41.484Z,1751053421.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:41.486Z,1751053421.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 148.343735 m,
      bearing: 265.979586 deg,
      approach rate: -0.779947 m/s,
      LOS rate: 0.042828 deg/s,
      cmd heading: 258.392012 deg,
      new cmd heading: 258.432306 deg.

2025-06-27T19:43:41.487Z,1751053421.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510495 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:41.492Z,1751053421.492 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-06-27T19:33:41.3Z
2025-06-27T19:43:41.492Z,1751053421.492 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-27T19:43:41.492Z,1751053421.492 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:43:41.492Z,1751053421.492 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-27T19:43:41.492Z,1751053421.492 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:43:41.493Z,1751053421.493 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-06-27T19:43:41.904Z,1751053421.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:41.906Z,1751053421.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:41.909Z,1751053421.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 148.025146 m,
      bearing: 265.995204 deg,
      approach rate: -0.753902 m/s,
      LOS rate: 0.037038 deg/s,
      cmd heading: 258.432310 deg,
      new cmd heading: 258.479266 deg.

2025-06-27T19:43:41.910Z,1751053421.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511314 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:41.914Z,1751053421.914 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-06-27T19:43:41.914Z,1751053421.914 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-06-27T19:43:41.915Z,1751053421.915 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-06-27T19:43:41.915Z,1751053421.915 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:43:41.915Z,1751053421.915 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-06-27T19:43:41.984Z,1751053421.984 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:41.984Z,1751053421.984 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:41.985Z,1751053421.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:42.235Z,1751053422.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249822
2025-06-27T19:43:42.410Z,1751053422.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:42.413Z,1751053422.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 147.646286 m,
      bearing: 266.013898 deg,
      approach rate: -0.751671 m/s,
      LOS rate: 0.037184 deg/s,
      cmd heading: 258.479275 deg,
      new cmd heading: 258.535500 deg.

2025-06-27T19:43:42.414Z,1751053422.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512296 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:42.489Z,1751053422.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503533
2025-06-27T19:43:42.739Z,1751053422.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753655
2025-06-27T19:43:42.949Z,1751053422.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:42.953Z,1751053422.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 147.254135 m,
      bearing: 266.031154 deg,
      approach rate: -0.728139 m/s,
      LOS rate: 0.032127 deg/s,
      cmd heading: 258.535501 deg,
      new cmd heading: 258.587408 deg.

2025-06-27T19:43:42.955Z,1751053422.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513202 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:42.993Z,1751053422.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007111
2025-06-27T19:43:43.237Z,1751053423.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:43.241Z,1751053423.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 147.044174 m,
      bearing: 266.040286 deg,
      approach rate: -0.728325 m/s,
      LOS rate: 0.031723 deg/s,
      cmd heading: 258.587410 deg,
      new cmd heading: 258.614845 deg.

2025-06-27T19:43:43.242Z,1751053423.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513680 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:43.245Z,1751053423.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259530
2025-06-27T19:43:43.496Z,1751053423.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509898
2025-06-27T19:43:43.665Z,1751053423.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:43.668Z,1751053423.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 146.732925 m,
      bearing: 266.053666 deg,
      approach rate: -0.727829 m/s,
      LOS rate: 0.031354 deg/s,
      cmd heading: 258.614840 deg,
      new cmd heading: 258.655065 deg.

2025-06-27T19:43:43.668Z,1751053423.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514382 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:43.748Z,1751053423.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762319
2025-06-27T19:43:44.000Z,1751053424.000 [DAT](INFO): DAT read: Rx Time:19:43:42.3918

2025-06-27T19:43:44.001Z,1751053424.001 [DAT](INFO): Rx dataTimestamp_ set to:1751053424.000327
2025-06-27T19:43:44.001Z,1751053424.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015837
2025-06-27T19:43:44.095Z,1751053424.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:44.097Z,1751053424.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:44.104Z,1751053424.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 146.427658 m,
      bearing: 266.064685 deg,
      approach rate: -0.705527 m/s,
      LOS rate: 0.025521 deg/s,
      cmd heading: 258.655056 deg,
      new cmd heading: 258.688183 deg.

2025-06-27T19:43:44.105Z,1751053424.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514961 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:44.251Z,1751053424.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265659
2025-06-27T19:43:44.439Z,1751053424.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.53 m.
2025-06-27T19:43:44.442Z,1751053424.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.530251 m,
      nav range: 146.170914 m,
      bearing: 266.073867 deg,
      approach rate: -0.751495 m/s,
      LOS rate: 0.026922 deg/s,
      cmd heading: 258.688197 deg,
      new cmd heading: 258.715790 deg.

2025-06-27T19:43:44.443Z,1751053424.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515442 target range: 127.530251 and range: 128.70 m.
2025-06-27T19:43:44.507Z,1751053424.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521280
2025-06-27T19:43:44.766Z,1751053424.766 [DAT](INFO): DAT read: 19:43:42.3919 LVL= 25520, 29297, 20674, 27715, AGC= 70, IDX= 404,-0.04,-1.179,-2.576,-1.328,-1.663, PHS= 0.571,-0.866, 0.331, RAW= 141.0,  -0.5, CAL= 145.5,  -9.6, ROT=   4.5,   9.6

2025-06-27T19:43:44.769Z,1751053424.769 [DAT](INFO): got valid direction response:
 19:43:42.3919 LVL= 25520, 29297, 20674, 27715, AGC= 70, IDX= 404,-0.04,-1.179,-2.576,-1.328,-1.663, PHS= 0.571,-0.866, 0.331, RAW= 141.0,  -0.5, CAL= 145.5,  -9.6, ROT=   4.5,   9.6

2025-06-27T19:43:44.770Z,1751053424.770 [DAT](INFO): DAT read: Bearing   4.5,   9.6 (Local)

2025-06-27T19:43:44.779Z,1751053424.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,   9.6 (Local)

2025-06-27T19:43:44.781Z,1751053424.781 [DAT](INFO): DAT read: Range 10 to 50 : 125.9 m  (Round-trip  167.9 ms) speed  0.5 m/s

2025-06-27T19:43:44.781Z,1751053424.781 [DAT](INFO): DAT read: user:2702>

2025-06-27T19:43:44.791Z,1751053424.791 [DAT](INFO): DAT read: Tx time:19:43:43.5199

2025-06-27T19:43:44.791Z,1751053424.791 [DAT](INFO): Ping request sent.
2025-06-27T19:43:44.791Z,1751053424.791 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:44.792Z,1751053424.792 [DAT](INFO): DAT read: TxSync time:19:43:43.5191

2025-06-27T19:43:44.792Z,1751053424.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:44.806Z,1751053424.806 [DAT](INFO): direction in FSK: [0.982957,0.077360,-0.166769]
2025-06-27T19:43:44.807Z,1751053424.807 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:44.807Z,1751053424.807 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:44.810Z,1751053424.810 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:44.827Z,1751053424.827 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:45.044Z,1751053425.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.900002 m,
      deltaT: 3.780829 s,
      deltaX: -2.799995 m,
      approachRate: -0.740577 m/s,
      rangeRepo size: 4

2025-06-27T19:43:45.046Z,1751053425.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.755798 m,
      bearing: 263.757635 deg,
      lat: 36.906903 deg,
      lon: -122.116740 deg,
      deltaT: 3.780829 s,
      deltaX: -2.774452 m,
      approachRate: -0.733821 m/s,
      posRepo size: 4

2025-06-27T19:43:45.051Z,1751053425.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:45.053Z,1751053425.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 145.755569 m,
      bearing: 266.090406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026922 deg/s,
      cmd heading: 258.715791 deg,
      new cmd heading: 258.764581 deg.

2025-06-27T19:43:45.059Z,1751053425.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516294 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:45.343Z,1751053425.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:45.345Z,1751053425.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 145.526382 m,
      bearing: 266.099545 deg,
      approach rate: -0.765293 m/s,
      LOS rate: 0.030566 deg/s,
      cmd heading: 258.764585 deg,
      new cmd heading: 258.792047 deg.

2025-06-27T19:43:45.347Z,1751053425.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516773 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:45.747Z,1751053425.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:45.750Z,1751053425.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 145.241562 m,
      bearing: 266.110898 deg,
      approach rate: -0.704165 m/s,
      LOS rate: 0.028123 deg/s,
      cmd heading: 258.792043 deg,
      new cmd heading: 258.826168 deg.

2025-06-27T19:43:45.767Z,1751053425.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517369 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:46.165Z,1751053426.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:46.168Z,1751053426.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:46.170Z,1751053426.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 144.943848 m,
      bearing: 266.119297 deg,
      approach rate: -0.708026 m/s,
      LOS rate: 0.020016 deg/s,
      cmd heading: 258.826166 deg,
      new cmd heading: 258.851416 deg.

2025-06-27T19:43:46.171Z,1751053426.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517809 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:46.267Z,1751053426.267 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:46.267Z,1751053426.267 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:46.268Z,1751053426.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:46.519Z,1751053426.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728160
2025-06-27T19:43:46.579Z,1751053426.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:46.582Z,1751053426.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 144.673416 m,
      bearing: 266.126890 deg,
      approach rate: -0.656692 m/s,
      LOS rate: 0.018473 deg/s,
      cmd heading: 258.851411 deg,
      new cmd heading: 258.874233 deg.

2025-06-27T19:43:46.591Z,1751053426.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518208 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:46.771Z,1751053426.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980240
2025-06-27T19:43:46.985Z,1751053426.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:46.989Z,1751053426.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 144.372437 m,
      bearing: 266.134169 deg,
      approach rate: -0.742624 m/s,
      LOS rate: 0.017996 deg/s,
      cmd heading: 258.874224 deg,
      new cmd heading: 258.896105 deg.

2025-06-27T19:43:46.993Z,1751053426.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518589 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:47.025Z,1751053427.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233890
2025-06-27T19:43:47.275Z,1751053427.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484173
2025-06-27T19:43:47.372Z,1751053427.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:47.375Z,1751053427.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 144.105133 m,
      bearing: 266.140538 deg,
      approach rate: -0.690559 m/s,
      LOS rate: 0.016485 deg/s,
      cmd heading: 258.896108 deg,
      new cmd heading: 258.915250 deg.

2025-06-27T19:43:47.376Z,1751053427.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518924 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:47.527Z,1751053427.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736351
2025-06-27T19:43:47.772Z,1751053427.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:47.775Z,1751053427.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 143.824112 m,
      bearing: 266.147121 deg,
      approach rate: -0.702651 m/s,
      LOS rate: 0.016493 deg/s,
      cmd heading: 258.915259 deg,
      new cmd heading: 258.935048 deg.

2025-06-27T19:43:47.775Z,1751053427.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519269 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:47.780Z,1751053427.780 [DAT](INFO): DAT read: Rx Time:19:43:46.0884

2025-06-27T19:43:47.780Z,1751053427.780 [DAT](INFO): Rx dataTimestamp_ set to:1751053427.779888
2025-06-27T19:43:47.781Z,1751053427.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989638
2025-06-27T19:43:48.031Z,1751053428.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240254
2025-06-27T19:43:48.257Z,1751053428.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:48.272Z,1751053428.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.76 m.
2025-06-27T19:43:48.279Z,1751053428.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.755798 m,
      nav range: 143.483688 m,
      bearing: 266.155564 deg,
      approach rate: -0.680087 m/s,
      LOS rate: 0.016907 deg/s,
      cmd heading: 258.935040 deg,
      new cmd heading: 258.960428 deg.

2025-06-27T19:43:48.280Z,1751053428.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519712 target range: 124.755798 and range: 125.90 m.
2025-06-27T19:43:48.289Z,1751053428.289 [DAT](INFO): DAT read: 19:43:46.0884 LVL= 24432, 32753, 22226, 32755, AGC= 69, IDX= 400, 0.03, 0.742,-0.779, 0.581, 0.213, PHS= 0.617,-0.945, 0.366, RAW= 141.4,  -0.5, CAL= 145.8,  -9.6, ROT=   4.2,   9.6

2025-06-27T19:43:48.291Z,1751053428.291 [DAT](INFO): got valid direction response:
 19:43:46.0884 LVL= 24432, 32753, 22226, 32755, AGC= 69, IDX= 400, 0.03, 0.742,-0.779, 0.581, 0.213, PHS= 0.617,-0.945, 0.366, RAW= 141.4,  -0.5, CAL= 145.8,  -9.6, ROT=   4.2,   9.6

2025-06-27T19:43:48.292Z,1751053428.292 [DAT](INFO): DAT read: Bearing   4.2,   9.6 (Local)

2025-06-27T19:43:48.292Z,1751053428.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.2,   9.6 (Local)

2025-06-27T19:43:48.294Z,1751053428.294 [DAT](INFO): DAT read: Range 10 to 50 : 123.3 m  (Round-trip  164.4 ms) speed  0.8 m/s

2025-06-27T19:43:48.295Z,1751053428.295 [DAT](INFO): DAT read: user:2703>

2025-06-27T19:43:48.296Z,1751053428.296 [DAT](INFO): DAT read: Tx time:19:43:47.1699

2025-06-27T19:43:48.296Z,1751053428.296 [DAT](INFO): Ping request sent.
2025-06-27T19:43:48.296Z,1751053428.296 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:48.297Z,1751053428.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:48.298Z,1751053428.298 [DAT](INFO): direction in FSK: [0.983348,0.072213,-0.166769]
2025-06-27T19:43:48.298Z,1751053428.298 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:48.299Z,1751053428.299 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:48.302Z,1751053428.302 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:48.302Z,1751053428.302 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:48.537Z,1751053428.537 [DAT](INFO): DAT read: TxSync time:19:43:47.1691

2025-06-27T19:43:48.604Z,1751053428.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.300003 m,
      deltaT: 3.527288 s,
      deltaX: -2.599998 m,
      approachRate: -0.737110 m/s,
      rangeRepo size: 4

2025-06-27T19:43:48.606Z,1751053428.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.179779 m,
      bearing: 264.009227 deg,
      lat: 36.906876 deg,
      lon: -122.116482 deg,
      deltaT: 3.527288 s,
      deltaX: -2.576019 m,
      approachRate: -0.730312 m/s,
      posRepo size: 4

2025-06-27T19:43:48.609Z,1751053428.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:48.611Z,1751053428.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 120.682961 m,
      bearing: 264.012058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016907 deg/s,
      cmd heading: 258.960421 deg,
      new cmd heading: 258.977206 deg.

2025-06-27T19:43:48.612Z,1751053428.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520005 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:49.054Z,1751053429.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:49.056Z,1751053429.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 120.365860 m,
      bearing: 264.016586 deg,
      approach rate: -0.703969 m/s,
      LOS rate: 0.010079 deg/s,
      cmd heading: 258.977196 deg,
      new cmd heading: 258.990816 deg.

2025-06-27T19:43:49.057Z,1751053429.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520243 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:49.419Z,1751053429.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:49.421Z,1751053429.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 120.101036 m,
      bearing: 264.020213 deg,
      approach rate: -0.734192 m/s,
      LOS rate: 0.010079 deg/s,
      cmd heading: 258.990829 deg,
      new cmd heading: 259.001735 deg.

2025-06-27T19:43:49.428Z,1751053429.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520433 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:49.810Z,1751053429.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:49.813Z,1751053429.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 119.801170 m,
      bearing: 264.024134 deg,
      approach rate: -0.757859 m/s,
      LOS rate: 0.009933 deg/s,
      cmd heading: 259.001730 deg,
      new cmd heading: 259.013520 deg.

2025-06-27T19:43:49.814Z,1751053429.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520639 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:50.233Z,1751053430.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:50.236Z,1751053430.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 119.494171 m,
      bearing: 264.027892 deg,
      approach rate: -0.725196 m/s,
      LOS rate: 0.008902 deg/s,
      cmd heading: 259.013532 deg,
      new cmd heading: 259.024838 deg.

2025-06-27T19:43:50.237Z,1751053430.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520836 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:50.611Z,1751053430.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:50.613Z,1751053430.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:50.616Z,1751053430.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 119.215477 m,
      bearing: 264.031176 deg,
      approach rate: -0.734521 m/s,
      LOS rate: 0.008675 deg/s,
      cmd heading: 259.024843 deg,
      new cmd heading: 259.034717 deg.

2025-06-27T19:43:50.617Z,1751053430.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521008 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:50.808Z,1751053430.808 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:50.808Z,1751053430.808 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:50.808Z,1751053430.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:51.058Z,1751053431.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:51.059Z,1751053431.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763002
2025-06-27T19:43:51.062Z,1751053431.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 118.881020 m,
      bearing: 264.036196 deg,
      approach rate: -0.752017 m/s,
      LOS rate: 0.011318 deg/s,
      cmd heading: 259.034706 deg,
      new cmd heading: 259.049807 deg.

2025-06-27T19:43:51.064Z,1751053431.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521272 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:51.312Z,1751053431.312 [DAT](INFO): DAT read: Rx Time:19:43:49.7349

2025-06-27T19:43:51.313Z,1751053431.313 [DAT](INFO): Rx dataTimestamp_ set to:1751053431.312265
2025-06-27T19:43:51.313Z,1751053431.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016678
2025-06-27T19:43:51.436Z,1751053431.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:51.444Z,1751053431.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 118.608826 m,
      bearing: 264.040209 deg,
      approach rate: -0.719781 m/s,
      LOS rate: 0.010637 deg/s,
      cmd heading: 259.049814 deg,
      new cmd heading: 259.061882 deg.

2025-06-27T19:43:51.445Z,1751053431.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521483 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:51.563Z,1751053431.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266904
2025-06-27T19:43:51.815Z,1751053431.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518939
2025-06-27T19:43:51.905Z,1751053431.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.18 m.
2025-06-27T19:43:51.912Z,1751053431.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.179779 m,
      nav range: 118.250763 m,
      bearing: 264.045421 deg,
      approach rate: -0.763349 m/s,
      LOS rate: 0.011145 deg/s,
      cmd heading: 259.061890 deg,
      new cmd heading: 259.077573 deg.

2025-06-27T19:43:51.913Z,1751053431.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521757 target range: 122.179779 and range: 123.30 m.
2025-06-27T19:43:52.075Z,1751053432.075 [DAT](INFO): DAT read: 19:43:49.7349 LVL= 20976, 26865, 20866, 30195, AGC= 67, IDX= 411, 0.37, 0.734,-0.808, 0.582, 0.208, PHS= 0.613,-0.969, 0.371, RAW= 141.8,  -0.2, CAL= 146.2,  -9.2, ROT=   3.8,   9.2

2025-06-27T19:43:52.076Z,1751053432.076 [DAT](INFO): got valid direction response:
 19:43:49.7349 LVL= 20976, 26865, 20866, 30195, AGC= 67, IDX= 411, 0.37, 0.734,-0.808, 0.582, 0.208, PHS= 0.613,-0.969, 0.371, RAW= 141.8,  -0.2, CAL= 146.2,  -9.2, ROT=   3.8,   9.2

2025-06-27T19:43:52.077Z,1751053432.077 [DAT](INFO): DAT read: Bearing   3.8,   9.2 (Local)

2025-06-27T19:43:52.077Z,1751053432.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,   9.2 (Local)

2025-06-27T19:43:52.079Z,1751053432.079 [DAT](INFO): DAT read: Range 10 to 50 : 120.6 m  (Round-trip  160.9 ms) speed  0.8 m/s

2025-06-27T19:43:52.080Z,1751053432.080 [DAT](INFO): DAT read: user:2704>

2025-06-27T19:43:52.080Z,1751053432.080 [DAT](INFO): DAT read: Tx time:19:43:50.8199

2025-06-27T19:43:52.081Z,1751053432.081 [DAT](INFO): Ping request sent.
2025-06-27T19:43:52.081Z,1751053432.081 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:52.081Z,1751053432.081 [DAT](INFO): DAT read: TxSync time:19:43:50.8191

2025-06-27T19:43:52.082Z,1751053432.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:52.083Z,1751053432.083 [DAT](INFO): direction in FSK: [0.984966,0.065421,-0.159881]
2025-06-27T19:43:52.083Z,1751053432.083 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:52.083Z,1751053432.083 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:52.101Z,1751053432.101 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:52.118Z,1751053432.118 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:52.363Z,1751053432.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.599998 m,
      deltaT: 3.784079 s,
      deltaX: -2.700005 m,
      approachRate: -0.713517 m/s,
      rangeRepo size: 4

2025-06-27T19:43:52.365Z,1751053432.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.504311 m,
      bearing: 264.020219 deg,
      lat: 36.906876 deg,
      lon: -122.116482 deg,
      deltaT: 3.784079 s,
      deltaX: -2.675468 m,
      approachRate: -0.707033 m/s,
      posRepo size: 4

2025-06-27T19:43:52.366Z,1751053432.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:52.369Z,1751053432.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 117.906975 m,
      bearing: 264.010727 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011145 deg/s,
      cmd heading: 259.077572 deg,
      new cmd heading: 259.092878 deg.

2025-06-27T19:43:52.370Z,1751053432.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522024 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:52.733Z,1751053432.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:52.735Z,1751053432.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:52.738Z,1751053432.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 117.620560 m,
      bearing: 264.015744 deg,
      approach rate: -0.767988 m/s,
      LOS rate: 0.013485 deg/s,
      cmd heading: 259.092872 deg,
      new cmd heading: 259.107959 deg.

2025-06-27T19:43:52.739Z,1751053432.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522287 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:52.824Z,1751053432.824 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:52.824Z,1751053432.824 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:52.824Z,1751053432.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:53.075Z,1751053433.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994568
2025-06-27T19:43:53.180Z,1751053433.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:53.189Z,1751053433.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 117.297409 m,
      bearing: 264.023041 deg,
      approach rate: -0.726289 m/s,
      LOS rate: 0.016445 deg/s,
      cmd heading: 259.107953 deg,
      new cmd heading: 259.129903 deg.

2025-06-27T19:43:53.214Z,1751053433.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522670 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:53.327Z,1751053433.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246514
2025-06-27T19:43:53.544Z,1751053433.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:53.547Z,1751053433.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 117.000717 m,
      bearing: 264.029839 deg,
      approach rate: -0.816546 m/s,
      LOS rate: 0.018757 deg/s,
      cmd heading: 259.129891 deg,
      new cmd heading: 259.150338 deg.

2025-06-27T19:43:53.548Z,1751053433.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523026 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:53.580Z,1751053433.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498807
2025-06-27T19:43:53.831Z,1751053433.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750562
2025-06-27T19:43:53.975Z,1751053433.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:53.992Z,1751053433.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 116.692184 m,
      bearing: 264.036778 deg,
      approach rate: -0.725509 m/s,
      LOS rate: 0.016360 deg/s,
      cmd heading: 259.150327 deg,
      new cmd heading: 259.171199 deg.

2025-06-27T19:43:53.997Z,1751053433.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523391 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:54.086Z,1751053434.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005034
2025-06-27T19:43:54.319Z,1751053434.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:43:54.339Z,1751053434.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258633
2025-06-27T19:43:54.372Z,1751053434.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:54.375Z,1751053434.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 116.365021 m,
      bearing: 264.044159 deg,
      approach rate: -0.811016 m/s,
      LOS rate: 0.018347 deg/s,
      cmd heading: 259.171200 deg,
      new cmd heading: 259.193404 deg.

2025-06-27T19:43:54.376Z,1751053434.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523778 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:54.592Z,1751053434.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511070
2025-06-27T19:43:54.746Z,1751053434.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:54.749Z,1751053434.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:54.767Z,1751053434.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 116.076111 m,
      bearing: 264.050762 deg,
      approach rate: -0.768006 m/s,
      LOS rate: 0.017598 deg/s,
      cmd heading: 259.193412 deg,
      new cmd heading: 259.213272 deg.

2025-06-27T19:43:54.768Z,1751053434.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524125 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:54.844Z,1751053434.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763147
2025-06-27T19:43:55.095Z,1751053435.095 [DAT](INFO): DAT read: Rx Time:19:43:53.3811

2025-06-27T19:43:55.096Z,1751053435.096 [DAT](INFO): Rx dataTimestamp_ set to:1751053435.095524
2025-06-27T19:43:55.096Z,1751053435.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015544
2025-06-27T19:43:55.184Z,1751053435.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:55.187Z,1751053435.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 115.740631 m,
      bearing: 264.063869 deg,
      approach rate: -0.770991 m/s,
      LOS rate: 0.030209 deg/s,
      cmd heading: 259.213274 deg,
      new cmd heading: 259.252709 deg.

2025-06-27T19:43:55.188Z,1751053435.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524813 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:55.323Z,1751053435.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:43:55.347Z,1751053435.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266590
2025-06-27T19:43:55.571Z,1751053435.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-06-27T19:43:55.574Z,1751053435.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.504311 m,
      nav range: 115.452271 m,
      bearing: 264.075223 deg,
      approach rate: -0.744595 m/s,
      LOS rate: 0.029390 deg/s,
      cmd heading: 259.252698 deg,
      new cmd heading: 259.286844 deg.

2025-06-27T19:43:55.575Z,1751053435.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525409 target range: 119.504311 and range: 120.60 m.
2025-06-27T19:43:55.615Z,1751053435.615 [DAT](INFO): DAT read: 19:43:53.3812 LVL= 32752, 32753, 32242, 32755, AGC= 68, IDX= 405, 0.06,-2.722, 2.175,-2.856, 3.026, PHS= 0.624,-0.804, 0.398, RAW= 141.6,  -3.3, CAL= 146.7, -12.6, ROT=   3.3,  12.6

2025-06-27T19:43:55.616Z,1751053435.616 [DAT](INFO): got valid direction response:
 19:43:53.3812 LVL= 32752, 32753, 32242, 32755, AGC= 68, IDX= 405, 0.06,-2.722, 2.175,-2.856, 3.026, PHS= 0.624,-0.804, 0.398, RAW= 141.6,  -3.3, CAL= 146.7, -12.6, ROT=   3.3,  12.6

2025-06-27T19:43:55.618Z,1751053435.618 [DAT](INFO): DAT read: Bearing   3.3,  12.6 (Local)

2025-06-27T19:43:55.618Z,1751053435.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  12.6 (Local)

2025-06-27T19:43:55.629Z,1751053435.629 [DAT](INFO): DAT read: Range 10 to 50 : 117.8 m  (Round-trip  157.1 ms) speed  0.6 m/s

2025-06-27T19:43:55.630Z,1751053435.630 [DAT](INFO): DAT read: user:2705>

2025-06-27T19:43:55.667Z,1751053435.667 [DAT](INFO): DAT read: Tx time:19:43:54.4700

2025-06-27T19:43:55.671Z,1751053435.671 [DAT](INFO): Ping request sent.
2025-06-27T19:43:55.671Z,1751053435.671 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:55.672Z,1751053435.672 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:55.673Z,1751053435.673 [DAT](INFO): direction in FSK: [0.974299,0.056178,-0.218143]
2025-06-27T19:43:55.673Z,1751053435.673 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:55.673Z,1751053435.673 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:55.691Z,1751053435.691 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:55.691Z,1751053435.691 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:55.851Z,1751053435.851 [DAT](INFO): DAT read: TxSync time:19:43:54.4692

2025-06-27T19:43:56.026Z,1751053436.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.800003 m,
      deltaT: 3.531756 s,
      deltaX: -2.799995 m,
      approachRate: -0.792805 m/s,
      rangeRepo size: 4

2025-06-27T19:43:56.048Z,1751053436.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.729408 m,
      bearing: 263.642694 deg,
      lat: 36.906875 deg,
      lon: -122.116482 deg,
      deltaT: 3.531756 s,
      deltaX: -2.774902 m,
      approachRate: -0.785700 m/s,
      posRepo size: 4

2025-06-27T19:43:56.056Z,1751053436.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:56.068Z,1751053436.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 115.095024 m,
      bearing: 264.035569 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029390 deg/s,
      cmd heading: 259.286849 deg,
      new cmd heading: 259.326187 deg.

2025-06-27T19:43:56.069Z,1751053436.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526096 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:56.461Z,1751053436.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:56.464Z,1751053436.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 114.720932 m,
      bearing: 264.053195 deg,
      approach rate: -0.842360 m/s,
      LOS rate: 0.039820 deg/s,
      cmd heading: 259.326191 deg,
      new cmd heading: 259.379243 deg.

2025-06-27T19:43:56.465Z,1751053436.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527022 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:56.793Z,1751053436.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:56.795Z,1751053436.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:56.798Z,1751053436.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 114.465820 m,
      bearing: 264.065580 deg,
      approach rate: -0.763458 m/s,
      LOS rate: 0.037147 deg/s,
      cmd heading: 259.379248 deg,
      new cmd heading: 259.416486 deg.

2025-06-27T19:43:56.799Z,1751053436.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527672 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:56.860Z,1751053436.860 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:43:56.860Z,1751053436.860 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:43:56.861Z,1751053436.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:43:57.112Z,1751053437.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441001
2025-06-27T19:43:57.221Z,1751053437.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:57.225Z,1751053437.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 114.148338 m,
      bearing: 264.081133 deg,
      approach rate: -0.745314 m/s,
      LOS rate: 0.036612 deg/s,
      cmd heading: 259.416486 deg,
      new cmd heading: 259.463274 deg.

2025-06-27T19:43:57.229Z,1751053437.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528489 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:57.363Z,1751053437.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691966
2025-06-27T19:43:57.597Z,1751053437.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:57.600Z,1751053437.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 113.868729 m,
      bearing: 264.094864 deg,
      approach rate: -0.744631 m/s,
      LOS rate: 0.036657 deg/s,
      cmd heading: 259.463286 deg,
      new cmd heading: 259.504580 deg.

2025-06-27T19:43:57.601Z,1751053437.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529209 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:57.627Z,1751053437.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955329
2025-06-27T19:43:57.867Z,1751053437.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195984
2025-06-27T19:43:57.982Z,1751053437.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:57.985Z,1751053437.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 113.582153 m,
      bearing: 264.108862 deg,
      approach rate: -0.743731 m/s,
      LOS rate: 0.036421 deg/s,
      cmd heading: 259.504568 deg,
      new cmd heading: 259.546670 deg.

2025-06-27T19:43:57.986Z,1751053437.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529944 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:58.119Z,1751053438.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448173
2025-06-27T19:43:58.371Z,1751053438.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700122
2025-06-27T19:43:58.423Z,1751053438.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:58.425Z,1751053438.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 113.263840 m,
      bearing: 264.125448 deg,
      approach rate: -0.722950 m/s,
      LOS rate: 0.037774 deg/s,
      cmd heading: 259.546669 deg,
      new cmd heading: 259.596565 deg.

2025-06-27T19:43:58.426Z,1751053438.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530815 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:58.626Z,1751053438.626 [DAT](INFO): DAT read: Rx Time:19:43:57.0277

2025-06-27T19:43:58.627Z,1751053438.627 [DAT](INFO): Rx dataTimestamp_ set to:1751053438.626421
2025-06-27T19:43:58.627Z,1751053438.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955959
2025-06-27T19:43:58.794Z,1751053438.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:58.797Z,1751053438.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 112.992790 m,
      bearing: 264.139368 deg,
      approach rate: -0.730200 m/s,
      LOS rate: 0.037590 deg/s,
      cmd heading: 259.596557 deg,
      new cmd heading: 259.638418 deg.

2025-06-27T19:43:58.797Z,1751053438.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531545 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:58.876Z,1751053438.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204831
2025-06-27T19:43:59.131Z,1751053439.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458660
2025-06-27T19:43:59.235Z,1751053439.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:43:59.237Z,1751053439.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.73 m.
2025-06-27T19:43:59.240Z,1751053439.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.729408 m,
      nav range: 112.663055 m,
      bearing: 264.152578 deg,
      approach rate: -0.743155 m/s,
      LOS rate: 0.029861 deg/s,
      cmd heading: 259.638412 deg,
      new cmd heading: 259.678159 deg.

2025-06-27T19:43:59.241Z,1751053439.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532239 target range: 116.729408 and range: 117.80 m.
2025-06-27T19:43:59.386Z,1751053439.386 [DAT](INFO): DAT read: 19:43:57.0277 LVL= 24272, 31329, 22098, 32755, AGC= 69, IDX= 401,-0.30, 3.020, 1.460, 2.869, 2.511, PHS= 0.597,-1.004, 0.355, RAW= 142.0,   0.7, CAL= 146.1,  -8.1, ROT=   3.9,   8.1

2025-06-27T19:43:59.390Z,1751053439.390 [DAT](INFO): got valid direction response:
 19:43:57.0277 LVL= 24272, 31329, 22098, 32755, AGC= 69, IDX= 401,-0.30, 3.020, 1.460, 2.869, 2.511, PHS= 0.597,-1.004, 0.355, RAW= 142.0,   0.7, CAL= 146.1,  -8.1, ROT=   3.9,   8.1

2025-06-27T19:43:59.391Z,1751053439.391 [DAT](INFO): DAT read: Bearing   3.9,   8.1 (Local)

2025-06-27T19:43:59.391Z,1751053439.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.9,   8.1 (Local)

2025-06-27T19:43:59.393Z,1751053439.393 [DAT](INFO): DAT read: Range 10 to 50 : 115.2 m  (Round-trip  153.6 ms) speed  0.9 m/s

2025-06-27T19:43:59.394Z,1751053439.394 [DAT](INFO): DAT read: user:2706>

2025-06-27T19:43:59.416Z,1751053439.416 [DAT](INFO): DAT read: Tx time:19:43:58.1200

2025-06-27T19:43:59.416Z,1751053439.416 [DAT](INFO): Ping request sent.
2025-06-27T19:43:59.416Z,1751053439.416 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:43:59.418Z,1751053439.418 [DAT](INFO): DAT read: TxSync time:19:43:58.1192

2025-06-27T19:43:59.427Z,1751053439.427 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:43:59.429Z,1751053439.429 [DAT](INFO): direction in FSK: [0.987731,0.067337,-0.140901]
2025-06-27T19:43:59.429Z,1751053439.429 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:59.430Z,1751053439.430 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:59.446Z,1751053439.446 [DAT](INFO): publishing transmit ping time
2025-06-27T19:43:59.451Z,1751053439.451 [DAT](INFO): publishing direction and range info
2025-06-27T19:43:59.629Z,1751053439.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.199997 m,
      deltaT: 3.779982 s,
      deltaX: -2.600006 m,
      approachRate: -0.687836 m/s,
      rangeRepo size: 4

2025-06-27T19:43:59.635Z,1751053439.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.152817 m,
      bearing: 264.145990 deg,
      lat: 36.906874 deg,
      lon: -122.116482 deg,
      deltaT: 3.779982 s,
      deltaX: -2.576591 m,
      approachRate: -0.681641 m/s,
      posRepo size: 4

2025-06-27T19:43:59.636Z,1751053439.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:43:59.643Z,1751053439.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 112.447121 m,
      bearing: 264.110868 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.029861 deg/s,
      cmd heading: 259.678164 deg,
      new cmd heading: 259.713156 deg.

2025-06-27T19:43:59.644Z,1751053439.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532850 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:00.099Z,1751053440.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:00.120Z,1751053440.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 112.141861 m,
      bearing: 264.123095 deg,
      approach rate: -0.661567 m/s,
      LOS rate: 0.026569 deg/s,
      cmd heading: 259.713162 deg,
      new cmd heading: 259.749941 deg.

2025-06-27T19:44:00.131Z,1751053440.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533492 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:00.476Z,1751053440.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:00.483Z,1751053440.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 111.818535 m,
      bearing: 264.132465 deg,
      approach rate: -0.837201 m/s,
      LOS rate: 0.024333 deg/s,
      cmd heading: 259.749936 deg,
      new cmd heading: 259.778128 deg.

2025-06-27T19:44:00.484Z,1751053440.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533984 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:00.851Z,1751053440.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:00.853Z,1751053440.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 111.537949 m,
      bearing: 264.140438 deg,
      approach rate: -0.748767 m/s,
      LOS rate: 0.021329 deg/s,
      cmd heading: 259.778131 deg,
      new cmd heading: 259.802109 deg.

2025-06-27T19:44:00.854Z,1751053440.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534402 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:01.294Z,1751053441.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:01.297Z,1751053441.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:01.299Z,1751053441.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 111.211601 m,
      bearing: 264.146189 deg,
      approach rate: -0.731335 m/s,
      LOS rate: 0.012926 deg/s,
      cmd heading: 259.802118 deg,
      new cmd heading: 259.819423 deg.

2025-06-27T19:44:01.300Z,1751053441.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534704 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:01.395Z,1751053441.395 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:01.395Z,1751053441.395 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:01.396Z,1751053441.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:01.640Z,1751053441.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:01.643Z,1751053441.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 110.959793 m,
      bearing: 264.150587 deg,
      approach rate: -0.733408 m/s,
      LOS rate: 0.012838 deg/s,
      cmd heading: 259.819412 deg,
      new cmd heading: 259.832636 deg.

2025-06-27T19:44:01.644Z,1751053441.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534935 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:01.647Z,1751053441.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231024
2025-06-27T19:44:01.900Z,1751053441.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483159
2025-06-27T19:44:02.050Z,1751053442.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:02.053Z,1751053442.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 110.659439 m,
      bearing: 264.155822 deg,
      approach rate: -0.732272 m/s,
      LOS rate: 0.012798 deg/s,
      cmd heading: 259.832636 deg,
      new cmd heading: 259.848383 deg.

2025-06-27T19:44:02.054Z,1751053442.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535210 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:02.153Z,1751053442.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736171
2025-06-27T19:44:02.403Z,1751053442.403 [DAT](INFO): DAT read: Rx Time:19:44:00.6739

2025-06-27T19:44:02.404Z,1751053442.404 [DAT](INFO): Rx dataTimestamp_ set to:1751053442.403517
2025-06-27T19:44:02.404Z,1751053442.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987955
2025-06-27T19:44:02.488Z,1751053442.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:02.495Z,1751053442.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 110.342010 m,
      bearing: 264.161388 deg,
      approach rate: -0.724718 m/s,
      LOS rate: 0.012745 deg/s,
      cmd heading: 259.848372 deg,
      new cmd heading: 259.865119 deg.

2025-06-27T19:44:02.496Z,1751053442.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535502 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:02.656Z,1751053442.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239130
2025-06-27T19:44:02.863Z,1751053442.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.15 m.
2025-06-27T19:44:02.866Z,1751053442.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.152817 m,
      nav range: 110.064842 m,
      bearing: 264.166228 deg,
      approach rate: -0.740759 m/s,
      LOS rate: 0.012968 deg/s,
      cmd heading: 259.865120 deg,
      new cmd heading: 259.879677 deg.

2025-06-27T19:44:02.867Z,1751053442.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535756 target range: 114.152817 and range: 115.20 m.
2025-06-27T19:44:02.916Z,1751053442.916 [DAT](INFO): DAT read: 19:44:00.6739 LVL= 29328, 32753, 24178, 32755, AGC= 69, IDX= 410, 0.08,-0.813,-2.241,-0.904,-1.269, PHS= 0.544,-0.925, 0.363, RAW= 143.5,   0.3, CAL= 147.5,  -8.7, ROT=   2.5,   8.7

2025-06-27T19:44:02.918Z,1751053442.918 [DAT](INFO): got valid direction response:
 19:44:00.6739 LVL= 29328, 32753, 24178, 32755, AGC= 69, IDX= 410, 0.08,-0.813,-2.241,-0.904,-1.269, PHS= 0.544,-0.925, 0.363, RAW= 143.5,   0.3, CAL= 147.5,  -8.7, ROT=   2.5,   8.7

2025-06-27T19:44:02.919Z,1751053442.919 [DAT](INFO): DAT read: Bearing   2.5,   8.7 (Local)

2025-06-27T19:44:02.920Z,1751053442.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   8.7 (Local)

2025-06-27T19:44:02.924Z,1751053442.924 [DAT](INFO): DAT read: Range 10 to 50 : 112.3 m  (Round-trip  149.8 ms) speed  0.7 m/s

2025-06-27T19:44:02.925Z,1751053442.925 [DAT](INFO): DAT read: user:2707>

2025-06-27T19:44:02.926Z,1751053442.926 [DAT](INFO): DAT read: Tx time:19:44:01.7700

2025-06-27T19:44:02.930Z,1751053442.930 [DAT](INFO): Ping request sent.
2025-06-27T19:44:02.931Z,1751053442.931 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:02.931Z,1751053442.931 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:02.932Z,1751053442.932 [DAT](INFO): direction in FSK: [0.987553,0.043117,-0.151261]
2025-06-27T19:44:02.932Z,1751053442.932 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:02.932Z,1751053442.932 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:02.944Z,1751053442.944 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:02.944Z,1751053442.944 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:03.160Z,1751053443.160 [DAT](INFO): DAT read: TxSync time:19:44:01.7692

2025-06-27T19:44:03.304Z,1751053443.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.300003 m,
      deltaT: 3.528549 s,
      deltaX: -2.899994 m,
      approachRate: -0.821866 m/s,
      rangeRepo size: 4

2025-06-27T19:44:03.306Z,1751053443.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.278900 m,
      bearing: 263.077357 deg,
      lat: 36.906874 deg,
      lon: -122.116483 deg,
      deltaT: 3.528549 s,
      deltaX: -2.873917 m,
      approachRate: -0.814475 m/s,
      posRepo size: 4

2025-06-27T19:44:03.307Z,1751053443.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:03.310Z,1751053443.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 109.835281 m,
      bearing: 264.176716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012968 deg/s,
      cmd heading: 259.879682 deg,
      new cmd heading: 259.896851 deg.

2025-06-27T19:44:03.311Z,1751053443.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536056 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:03.662Z,1751053443.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:03.663Z,1751053443.663 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:03.663Z,1751053443.663 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:03.664Z,1751053443.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:03.668Z,1751053443.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:03.686Z,1751053443.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 109.567451 m,
      bearing: 264.181500 deg,
      approach rate: -0.735875 m/s,
      LOS rate: 0.013176 deg/s,
      cmd heading: 259.896840 deg,
      new cmd heading: 259.911227 deg.

2025-06-27T19:44:03.691Z,1751053443.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536307 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:03.915Z,1751053443.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989108
2025-06-27T19:44:04.086Z,1751053444.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:04.109Z,1751053444.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 109.256920 m,
      bearing: 264.187076 deg,
      approach rate: -0.742282 m/s,
      LOS rate: 0.013366 deg/s,
      cmd heading: 259.911238 deg,
      new cmd heading: 259.928013 deg.

2025-06-27T19:44:04.110Z,1751053444.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536600 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:04.170Z,1751053444.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243277
2025-06-27T19:44:04.419Z,1751053444.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493122
2025-06-27T19:44:04.513Z,1751053444.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:04.520Z,1751053444.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 108.960793 m,
      bearing: 264.190469 deg,
      approach rate: -0.693210 m/s,
      LOS rate: 0.007966 deg/s,
      cmd heading: 259.928012 deg,
      new cmd heading: 259.938222 deg.

2025-06-27T19:44:04.521Z,1751053444.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536778 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:04.672Z,1751053444.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746067
2025-06-27T19:44:04.899Z,1751053444.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:04.902Z,1751053444.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 108.676910 m,
      bearing: 264.193532 deg,
      approach rate: -0.735581 m/s,
      LOS rate: 0.007957 deg/s,
      cmd heading: 259.938230 deg,
      new cmd heading: 259.947443 deg.

2025-06-27T19:44:04.907Z,1751053444.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536939 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:04.924Z,1751053444.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997352
2025-06-27T19:44:05.178Z,1751053445.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251293
2025-06-27T19:44:05.305Z,1751053445.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:05.308Z,1751053445.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 108.372154 m,
      bearing: 264.197123 deg,
      approach rate: -0.751395 m/s,
      LOS rate: 0.008880 deg/s,
      cmd heading: 259.947438 deg,
      new cmd heading: 259.958242 deg.

2025-06-27T19:44:05.309Z,1751053445.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537127 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:05.427Z,1751053445.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501181
2025-06-27T19:44:05.679Z,1751053445.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753187
2025-06-27T19:44:05.684Z,1751053445.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:05.686Z,1751053445.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:05.689Z,1751053445.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 108.097954 m,
      bearing: 264.200323 deg,
      approach rate: -0.719054 m/s,
      LOS rate: 0.008410 deg/s,
      cmd heading: 259.958229 deg,
      new cmd heading: 259.967851 deg.

2025-06-27T19:44:05.690Z,1751053445.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537295 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:05.932Z,1751053445.932 [DAT](INFO): DAT read: Rx Time:19:44:04.3203

2025-06-27T19:44:05.933Z,1751053445.933 [DAT](INFO): Rx dataTimestamp_ set to:1751053445.932526
2025-06-27T19:44:05.934Z,1751053445.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007403
2025-06-27T19:44:06.103Z,1751053446.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:06.106Z,1751053446.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 107.795204 m,
      bearing: 264.203791 deg,
      approach rate: -0.725876 m/s,
      LOS rate: 0.008339 deg/s,
      cmd heading: 259.967846 deg,
      new cmd heading: 259.978280 deg.

2025-06-27T19:44:06.107Z,1751053446.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537477 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:06.187Z,1751053446.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259376
2025-06-27T19:44:06.439Z,1751053446.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511768
2025-06-27T19:44:06.522Z,1751053446.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.28 m.
2025-06-27T19:44:06.540Z,1751053446.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.278900 m,
      nav range: 107.493408 m,
      bearing: 264.206898 deg,
      approach rate: -0.721182 m/s,
      LOS rate: 0.007446 deg/s,
      cmd heading: 259.978283 deg,
      new cmd heading: 259.987631 deg.

2025-06-27T19:44:06.541Z,1751053446.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537640 target range: 111.278900 and range: 112.30 m.
2025-06-27T19:44:06.694Z,1751053446.694 [DAT](INFO): DAT read: 19:44:04.3203 LVL= 32752, 32753, 27122, 32755, AGC= 71, IDX= 404, 0.28, 2.578, 1.191, 2.464, 2.104, PHS= 0.562,-0.866, 0.356, RAW= 142.4,  -0.8, CAL= 146.7,  -9.9, ROT=   3.3,   9.9

2025-06-27T19:44:06.695Z,1751053446.695 [DAT](INFO): got valid direction response:
 19:44:04.3203 LVL= 32752, 32753, 27122, 32755, AGC= 71, IDX= 404, 0.28, 2.578, 1.191, 2.464, 2.104, PHS= 0.562,-0.866, 0.356, RAW= 142.4,  -0.8, CAL= 146.7,  -9.9, ROT=   3.3,   9.9

2025-06-27T19:44:06.696Z,1751053446.696 [DAT](INFO): DAT read: Bearing   3.3,   9.9 (Local)

2025-06-27T19:44:06.696Z,1751053446.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,   9.9 (Local)

2025-06-27T19:44:06.698Z,1751053446.698 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m  (Round-trip  146.1 ms) speed  0.5 m/s

2025-06-27T19:44:06.701Z,1751053446.701 [DAT](INFO): DAT read: user:2708>

2025-06-27T19:44:06.705Z,1751053446.705 [DAT](INFO): DAT read: Tx time:19:44:05.4200

2025-06-27T19:44:06.705Z,1751053446.705 [DAT](INFO): Ping request sent.
2025-06-27T19:44:06.705Z,1751053446.705 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:06.706Z,1751053446.706 [DAT](INFO): DAT read: TxSync time:19:44:05.4193

2025-06-27T19:44:06.746Z,1751053446.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:06.748Z,1751053446.748 [DAT](INFO): direction in FSK: [0.983476,0.056707,-0.171929]
2025-06-27T19:44:06.748Z,1751053446.748 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:06.749Z,1751053446.749 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:06.765Z,1751053446.765 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:06.765Z,1751053446.765 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:06.932Z,1751053446.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.500000 m,
      deltaT: 3.779518 s,
      deltaX: -2.800003 m,
      approachRate: -0.740836 m/s,
      rangeRepo size: 4

2025-06-27T19:44:06.939Z,1751053446.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.503952 m,
      bearing: 264.293377 deg,
      lat: 36.906874 deg,
      lon: -122.116483 deg,
      deltaT: 3.779518 s,
      deltaX: -2.774948 m,
      approachRate: -0.734207 m/s,
      posRepo size: 4

2025-06-27T19:44:06.940Z,1751053446.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:06.947Z,1751053446.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 107.212364 m,
      bearing: 264.209750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007446 deg/s,
      cmd heading: 259.987626 deg,
      new cmd heading: 259.996786 deg.

2025-06-27T19:44:06.948Z,1751053446.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537800 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:07.354Z,1751053447.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:07.361Z,1751053447.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 106.895615 m,
      bearing: 264.211293 deg,
      approach rate: -0.750181 m/s,
      LOS rate: 0.003665 deg/s,
      cmd heading: 259.996779 deg,
      new cmd heading: 260.001421 deg.

2025-06-27T19:44:07.362Z,1751053447.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537881 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:07.708Z,1751053447.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:07.710Z,1751053447.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:07.713Z,1751053447.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 106.630173 m,
      bearing: 264.212443 deg,
      approach rate: -0.744768 m/s,
      LOS rate: 0.003237 deg/s,
      cmd heading: 260.001423 deg,
      new cmd heading: 260.004884 deg.

2025-06-27T19:44:07.714Z,1751053447.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537941 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:07.947Z,1751053447.947 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:07.947Z,1751053447.947 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:07.948Z,1751053447.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:08.108Z,1751053448.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:08.111Z,1751053448.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 106.340149 m,
      bearing: 264.213517 deg,
      approach rate: -0.729355 m/s,
      LOS rate: 0.002708 deg/s,
      cmd heading: 260.004893 deg,
      new cmd heading: 260.008124 deg.

2025-06-27T19:44:08.112Z,1751053448.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537998 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:08.202Z,1751053448.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496944
2025-06-27T19:44:08.452Z,1751053448.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746881
2025-06-27T19:44:08.537Z,1751053448.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:08.540Z,1751053448.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 106.028000 m,
      bearing: 264.214622 deg,
      approach rate: -0.727052 m/s,
      LOS rate: 0.002581 deg/s,
      cmd heading: 260.008117 deg,
      new cmd heading: 260.011441 deg.

2025-06-27T19:44:08.541Z,1751053448.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538056 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:08.703Z,1751053448.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998385
2025-06-27T19:44:08.918Z,1751053448.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:08.920Z,1751053448.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 105.751228 m,
      bearing: 264.215429 deg,
      approach rate: -0.727502 m/s,
      LOS rate: 0.002126 deg/s,
      cmd heading: 260.011450 deg,
      new cmd heading: 260.013877 deg.

2025-06-27T19:44:08.921Z,1751053448.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538098 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:08.956Z,1751053448.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250782
2025-06-27T19:44:09.210Z,1751053449.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504338
2025-06-27T19:44:09.370Z,1751053449.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:09.373Z,1751053449.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 105.435638 m,
      bearing: 264.215966 deg,
      approach rate: -0.703586 m/s,
      LOS rate: 0.001200 deg/s,
      cmd heading: 260.013882 deg,
      new cmd heading: 260.015496 deg.

2025-06-27T19:44:09.374Z,1751053449.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538126 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:09.461Z,1751053449.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755536
2025-06-27T19:44:09.712Z,1751053449.712 [DAT](INFO): DAT read: Rx Time:19:44:07.9669

2025-06-27T19:44:09.712Z,1751053449.712 [DAT](INFO): Rx dataTimestamp_ set to:1751053449.711737
2025-06-27T19:44:09.713Z,1751053449.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007514
2025-06-27T19:44:09.810Z,1751053449.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:09.812Z,1751053449.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:09.816Z,1751053449.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 105.092484 m,
      bearing: 264.216514 deg,
      approach rate: -0.768875 m/s,
      LOS rate: 0.001234 deg/s,
      cmd heading: 260.015494 deg,
      new cmd heading: 260.017146 deg.

2025-06-27T19:44:09.817Z,1751053449.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538155 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:09.963Z,1751053449.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258192
2025-06-27T19:44:10.146Z,1751053450.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.50 m.
2025-06-27T19:44:10.149Z,1751053450.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.503952 m,
      nav range: 104.846825 m,
      bearing: 264.216875 deg,
      approach rate: -0.736862 m/s,
      LOS rate: 0.001084 deg/s,
      cmd heading: 260.017133 deg,
      new cmd heading: 260.018217 deg.

2025-06-27T19:44:10.150Z,1751053450.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538174 target range: 108.503952 and range: 109.50 m.
2025-06-27T19:44:10.268Z,1751053450.268 [DAT](INFO): DAT read: 19:44:07.9669 LVL= 31824, 32753, 23234, 32755, AGC= 70, IDX= 402,-0.20,-2.215, 2.645,-2.297,-2.693, PHS= 0.565,-0.899, 0.393, RAW= 143.8,  -0.9, CAL= 148.0,  -9.9, ROT=   2.0,   9.9

2025-06-27T19:44:10.275Z,1751053450.275 [DAT](INFO): got valid direction response:
 19:44:07.9669 LVL= 31824, 32753, 23234, 32755, AGC= 70, IDX= 402,-0.20,-2.215, 2.645,-2.297,-2.693, PHS= 0.565,-0.899, 0.393, RAW= 143.8,  -0.9, CAL= 148.0,  -9.9, ROT=   2.0,   9.9

2025-06-27T19:44:10.276Z,1751053450.276 [DAT](INFO): DAT read: Bearing   2.0,   9.9 (Local)

2025-06-27T19:44:10.276Z,1751053450.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   9.9 (Local)

2025-06-27T19:44:10.278Z,1751053450.278 [DAT](INFO): DAT read: Range 10 to 50 : 107.0 m  (Round-trip  142.7 ms) speed  0.8 m/s

2025-06-27T19:44:10.282Z,1751053450.282 [DAT](INFO): DAT read: user:2709>

2025-06-27T19:44:10.283Z,1751053450.283 [DAT](INFO): DAT read: Tx time:19:44:09.0701

2025-06-27T19:44:10.284Z,1751053450.284 [DAT](INFO): Ping request sent.
2025-06-27T19:44:10.284Z,1751053450.284 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:10.284Z,1751053450.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:10.285Z,1751053450.285 [DAT](INFO): direction in FSK: [0.984509,0.034380,-0.171929]
2025-06-27T19:44:10.285Z,1751053450.285 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:10.292Z,1751053450.292 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:10.332Z,1751053450.332 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:10.332Z,1751053450.332 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:10.468Z,1751053450.468 [DAT](INFO): DAT read: TxSync time:19:44:09.0693

2025-06-27T19:44:10.595Z,1751053450.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.000000 m,
      deltaT: 3.529547 s,
      deltaX: -2.500000 m,
      approachRate: -0.708306 m/s,
      rangeRepo size: 4

2025-06-27T19:44:10.597Z,1751053450.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 106.026787 m,
      bearing: 263.265775 deg,
      lat: 36.906869 deg,
      lon: -122.116481 deg,
      deltaT: 3.529547 s,
      deltaX: -2.477165 m,
      approachRate: -0.701837 m/s,
      posRepo size: 4

2025-06-27T19:44:10.602Z,1751053450.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:10.605Z,1751053450.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 104.413872 m,
      bearing: 263.900665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001084 deg/s,
      cmd heading: 260.018226 deg,
      new cmd heading: 260.019685 deg.

2025-06-27T19:44:10.606Z,1751053450.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538199 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:10.978Z,1751053450.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:10.981Z,1751053450.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 104.127174 m,
      bearing: 263.901877 deg,
      approach rate: -0.748418 m/s,
      LOS rate: 0.003173 deg/s,
      cmd heading: 260.019674 deg,
      new cmd heading: 260.023320 deg.

2025-06-27T19:44:10.982Z,1751053450.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538263 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:11.362Z,1751053451.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:11.365Z,1751053451.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 103.829842 m,
      bearing: 263.905889 deg,
      approach rate: -0.772945 m/s,
      LOS rate: 0.010461 deg/s,
      cmd heading: 260.023307 deg,
      new cmd heading: 260.035379 deg.

2025-06-27T19:44:11.366Z,1751053451.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538474 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:11.788Z,1751053451.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:11.791Z,1751053451.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 103.516144 m,
      bearing: 263.910143 deg,
      approach rate: -0.736492 m/s,
      LOS rate: 0.010017 deg/s,
      cmd heading: 260.035383 deg,
      new cmd heading: 260.048183 deg.

2025-06-27T19:44:11.792Z,1751053451.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538697 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:12.206Z,1751053452.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:12.208Z,1751053452.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:12.211Z,1751053452.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 103.207237 m,
      bearing: 263.914184 deg,
      approach rate: -0.735495 m/s,
      LOS rate: 0.009651 deg/s,
      cmd heading: 260.048196 deg,
      new cmd heading: 260.060357 deg.

2025-06-27T19:44:12.212Z,1751053452.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538909 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:12.240Z,1751053452.240 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:12.240Z,1751053452.240 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:12.241Z,1751053452.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:12.492Z,1751053452.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208038
2025-06-27T19:44:12.693Z,1751053452.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:12.696Z,1751053452.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 102.843292 m,
      bearing: 263.922528 deg,
      approach rate: -0.750097 m/s,
      LOS rate: 0.017256 deg/s,
      cmd heading: 260.060354 deg,
      new cmd heading: 260.085473 deg.

2025-06-27T19:44:12.697Z,1751053452.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539348 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:12.744Z,1751053452.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459834
2025-06-27T19:44:12.996Z,1751053452.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712327
2025-06-27T19:44:13.074Z,1751053453.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:13.077Z,1751053453.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 102.558823 m,
      bearing: 263.929058 deg,
      approach rate: -0.747634 m/s,
      LOS rate: 0.017212 deg/s,
      cmd heading: 260.085462 deg,
      new cmd heading: 260.105109 deg.

2025-06-27T19:44:13.078Z,1751053453.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539690 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:13.250Z,1751053453.250 [DAT](INFO): DAT read: Rx Time:19:44:11.6134

2025-06-27T19:44:13.251Z,1751053453.251 [DAT](INFO): Rx dataTimestamp_ set to:1751053453.250046
2025-06-27T19:44:13.253Z,1751053453.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968677
2025-06-27T19:44:13.500Z,1751053453.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215809
2025-06-27T19:44:13.507Z,1751053453.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.03 m.
2025-06-27T19:44:13.510Z,1751053453.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 106.026787 m,
      nav range: 102.235573 m,
      bearing: 263.940589 deg,
      approach rate: -0.745886 m/s,
      LOS rate: 0.026691 deg/s,
      cmd heading: 260.105106 deg,
      new cmd heading: 260.139807 deg.

2025-06-27T19:44:13.511Z,1751053453.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540296 target range: 106.026787 and range: 107.00 m.
2025-06-27T19:44:13.763Z,1751053453.763 [DAT](INFO): DAT read: 19:44:11.6134 LVL= 31152, 32753, 22770, 32755, AGC= 68, IDX= 398,-0.31, 1.850, 0.439, 1.769, 1.417, PHS= 0.520,-0.931, 0.348, RAW= 143.8,   0.9, CAL= 147.6,  -7.9, ROT=   2.4,   7.9

2025-06-27T19:44:13.764Z,1751053453.764 [DAT](INFO): got valid direction response:
 19:44:11.6134 LVL= 31152, 32753, 22770, 32755, AGC= 68, IDX= 398,-0.31, 1.850, 0.439, 1.769, 1.417, PHS= 0.520,-0.931, 0.348, RAW= 143.8,   0.9, CAL= 147.6,  -7.9, ROT=   2.4,   7.9

2025-06-27T19:44:13.765Z,1751053453.765 [DAT](INFO): DAT read: Bearing   2.4,   7.9 (Local)

2025-06-27T19:44:13.765Z,1751053453.765 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,   7.9 (Local)

2025-06-27T19:44:13.771Z,1751053453.771 [DAT](INFO): DAT read: Range 10 to 50 : 104.4 m  (Round-trip  139.2 ms) speed  0.5 m/s

2025-06-27T19:44:13.772Z,1751053453.772 [DAT](INFO): DAT read: user:2710>

2025-06-27T19:44:13.773Z,1751053453.773 [DAT](INFO): DAT read: Tx time:19:44:12.7201

2025-06-27T19:44:13.773Z,1751053453.773 [DAT](INFO): Ping request sent.
2025-06-27T19:44:13.773Z,1751053453.773 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:13.773Z,1751053453.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:13.788Z,1751053453.788 [DAT](INFO): direction in FSK: [0.989641,0.041478,-0.137445]
2025-06-27T19:44:13.788Z,1751053453.788 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:13.789Z,1751053453.789 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:13.801Z,1751053453.801 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:13.801Z,1751053453.801 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:13.920Z,1751053453.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.400002 m,
      deltaT: 3.536269 s,
      deltaX: -2.599998 m,
      approachRate: -0.735238 m/s,
      rangeRepo size: 4

2025-06-27T19:44:13.927Z,1751053453.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.450340 m,
      bearing: 263.604647 deg,
      lat: 36.906862 deg,
      lon: -122.116483 deg,
      deltaT: 3.536269 s,
      deltaX: -2.576447 m,
      approachRate: -0.728578 m/s,
      posRepo size: 4

2025-06-27T19:44:13.927Z,1751053453.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:13.934Z,1751053453.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 102.198616 m,
      bearing: 263.580147 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026691 deg/s,
      cmd heading: 260.139803 deg,
      new cmd heading: 260.172829 deg.

2025-06-27T19:44:13.935Z,1751053453.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540873 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:14.004Z,1751053454.004 [DAT](INFO): DAT read: TxSync time:19:44:12.7193

2025-06-27T19:44:14.340Z,1751053454.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:14.342Z,1751053454.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:14.349Z,1751053454.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 101.869720 m,
      bearing: 263.590866 deg,
      approach rate: -0.778873 m/s,
      LOS rate: 0.025468 deg/s,
      cmd heading: 260.172834 deg,
      new cmd heading: 260.205097 deg.

2025-06-27T19:44:14.350Z,1751053454.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541436 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:14.507Z,1751053454.507 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:14.507Z,1751053454.507 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:14.507Z,1751053454.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:14.709Z,1751053454.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:14.712Z,1751053454.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 101.590736 m,
      bearing: 263.599408 deg,
      approach rate: -0.760579 m/s,
      LOS rate: 0.023351 deg/s,
      cmd heading: 260.205100 deg,
      new cmd heading: 260.230795 deg.

2025-06-27T19:44:14.713Z,1751053454.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541884 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:14.760Z,1751053454.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987002
2025-06-27T19:44:15.012Z,1751053455.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238671
2025-06-27T19:44:15.087Z,1751053455.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:15.090Z,1751053455.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 101.308861 m,
      bearing: 263.608113 deg,
      approach rate: -0.745425 m/s,
      LOS rate: 0.023085 deg/s,
      cmd heading: 260.230808 deg,
      new cmd heading: 260.256996 deg.

2025-06-27T19:44:15.091Z,1751053455.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542342 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:15.266Z,1751053455.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492218
2025-06-27T19:44:15.515Z,1751053455.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742260
2025-06-27T19:44:15.551Z,1751053455.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:15.553Z,1751053455.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 100.975685 m,
      bearing: 263.617750 deg,
      approach rate: -0.751442 m/s,
      LOS rate: 0.021807 deg/s,
      cmd heading: 260.257009 deg,
      new cmd heading: 260.286015 deg.

2025-06-27T19:44:15.558Z,1751053455.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542848 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:15.771Z,1751053455.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997464
2025-06-27T19:44:15.902Z,1751053455.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:15.905Z,1751053455.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 100.696526 m,
      bearing: 263.625756 deg,
      approach rate: -0.751216 m/s,
      LOS rate: 0.021604 deg/s,
      cmd heading: 260.286024 deg,
      new cmd heading: 260.310108 deg.

2025-06-27T19:44:15.906Z,1751053455.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543269 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:16.020Z,1751053456.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246905
2025-06-27T19:44:16.271Z,1751053456.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498254
2025-06-27T19:44:16.378Z,1751053456.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:16.384Z,1751053456.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:16.391Z,1751053456.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 100.340790 m,
      bearing: 263.636003 deg,
      approach rate: -0.737762 m/s,
      LOS rate: 0.021326 deg/s,
      cmd heading: 260.310121 deg,
      new cmd heading: 260.340969 deg.

2025-06-27T19:44:16.392Z,1751053456.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543807 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:16.524Z,1751053456.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750385
2025-06-27T19:44:16.737Z,1751053456.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:16.740Z,1751053456.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 100.067963 m,
      bearing: 263.644132 deg,
      approach rate: -0.772785 m/s,
      LOS rate: 0.023090 deg/s,
      cmd heading: 260.340966 deg,
      new cmd heading: 260.365421 deg.

2025-06-27T19:44:16.741Z,1751053456.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544234 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:16.776Z,1751053456.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003064
2025-06-27T19:44:17.027Z,1751053457.027 [DAT](INFO): DAT read: Rx Time:19:44:15.2596

2025-06-27T19:44:17.028Z,1751053457.028 [DAT](INFO): Rx dataTimestamp_ set to:1751053457.027667
2025-06-27T19:44:17.028Z,1751053457.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255363
2025-06-27T19:44:17.137Z,1751053457.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.45 m.
2025-06-27T19:44:17.156Z,1751053457.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.450340 m,
      nav range: 99.783188 m,
      bearing: 263.652655 deg,
      approach rate: -0.711503 m/s,
      LOS rate: 0.021355 deg/s,
      cmd heading: 260.365418 deg,
      new cmd heading: 260.391060 deg.

2025-06-27T19:44:17.157Z,1751053457.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544682 target range: 103.450340 and range: 104.40 m.
2025-06-27T19:44:17.281Z,1751053457.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507347
2025-06-27T19:44:17.537Z,1751053457.537 [DAT](INFO): DAT read: 19:44:15.2596 LVL= 29136, 31857, 25266, 32755, AGC= 70, IDX= 407,-0.08,-1.739,-3.089,-1.773,-2.198, PHS= 0.546,-0.844, 0.421, RAW= 145.3,  -1.9, CAL= 149.7, -10.9, ROT=   0.3,  10.9

2025-06-27T19:44:17.539Z,1751053457.539 [DAT](INFO): got valid direction response:
 19:44:15.2596 LVL= 29136, 31857, 25266, 32755, AGC= 70, IDX= 407,-0.08,-1.739,-3.089,-1.773,-2.198, PHS= 0.546,-0.844, 0.421, RAW= 145.3,  -1.9, CAL= 149.7, -10.9, ROT=   0.3,  10.9

2025-06-27T19:44:17.540Z,1751053457.540 [DAT](INFO): DAT read: Bearing   0.3,  10.9 (Local)

2025-06-27T19:44:17.540Z,1751053457.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  10.9 (Local)

2025-06-27T19:44:17.542Z,1751053457.542 [DAT](INFO): DAT read: Range 10 to 50 : 101.5 m  (Round-trip  135.4 ms) speed  0.8 m/s

2025-06-27T19:44:17.543Z,1751053457.543 [DAT](INFO): DAT read: user:2711>

2025-06-27T19:44:17.544Z,1751053457.544 [DAT](INFO): DAT read: Tx time:19:44:16.3701

2025-06-27T19:44:17.544Z,1751053457.544 [DAT](INFO): Ping request sent.
2025-06-27T19:44:17.544Z,1751053457.544 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:17.545Z,1751053457.545 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:17.546Z,1751053457.546 [DAT](INFO): direction in FSK: [0.981945,0.005142,-0.189095]
2025-06-27T19:44:17.546Z,1751053457.546 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:17.546Z,1751053457.546 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:17.549Z,1751053457.549 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:17.550Z,1751053457.550 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:17.623Z,1751053457.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.500000 m,
      deltaT: 3.778369 s,
      deltaX: -2.900002 m,
      approachRate: -0.767527 m/s,
      rangeRepo size: 4

2025-06-27T19:44:17.625Z,1751053457.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.576439 m,
      bearing: 261.738161 deg,
      lat: 36.906858 deg,
      lon: -122.116481 deg,
      deltaT: 3.778369 s,
      deltaX: -2.873901 m,
      approachRate: -0.760620 m/s,
      posRepo size: 4

2025-06-27T19:44:17.626Z,1751053457.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:17.633Z,1751053457.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 99.315399 m,
      bearing: 263.379217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021355 deg/s,
      cmd heading: 260.391072 deg,
      new cmd heading: 260.421871 deg.

2025-06-27T19:44:17.634Z,1751053457.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545219 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:17.784Z,1751053457.784 [DAT](INFO): DAT read: TxSync time:19:44:16.3693

2025-06-27T19:44:17.969Z,1751053457.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:17.976Z,1751053457.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 99.018120 m,
      bearing: 263.389973 deg,
      approach rate: -0.847143 m/s,
      LOS rate: 0.030743 deg/s,
      cmd heading: 260.421862 deg,
      new cmd heading: 260.454227 deg.

2025-06-27T19:44:17.977Z,1751053457.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545784 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:18.420Z,1751053458.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:18.426Z,1751053458.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:18.437Z,1751053458.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 98.725372 m,
      bearing: 263.400676 deg,
      approach rate: -0.645572 m/s,
      LOS rate: 0.023672 deg/s,
      cmd heading: 260.454238 deg,
      new cmd heading: 260.486442 deg.

2025-06-27T19:44:18.438Z,1751053458.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546346 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:18.541Z,1751053458.541 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:18.541Z,1751053458.541 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:18.543Z,1751053458.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:18.777Z,1751053458.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:18.780Z,1751053458.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 98.415611 m,
      bearing: 263.408397 deg,
      approach rate: -0.875115 m/s,
      LOS rate: 0.021881 deg/s,
      cmd heading: 260.486449 deg,
      new cmd heading: 260.509684 deg.

2025-06-27T19:44:18.781Z,1751053458.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546751 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:18.791Z,1751053458.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247027
2025-06-27T19:44:19.043Z,1751053459.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498852
2025-06-27T19:44:19.154Z,1751053459.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:19.157Z,1751053459.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 98.139191 m,
      bearing: 263.415184 deg,
      approach rate: -0.732209 m/s,
      LOS rate: 0.018029 deg/s,
      cmd heading: 260.509671 deg,
      new cmd heading: 260.530090 deg.

2025-06-27T19:44:19.158Z,1751053459.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547108 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:19.296Z,1751053459.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751105
2025-06-27T19:44:19.548Z,1751053459.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003117
2025-06-27T19:44:19.596Z,1751053459.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:19.603Z,1751053459.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 97.814690 m,
      bearing: 263.420568 deg,
      approach rate: -0.734582 m/s,
      LOS rate: 0.012229 deg/s,
      cmd heading: 260.530080 deg,
      new cmd heading: 260.546286 deg.

2025-06-27T19:44:19.604Z,1751053459.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547390 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:19.799Z,1751053459.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254881
2025-06-27T19:44:19.961Z,1751053459.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:19.964Z,1751053459.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 97.535400 m,
      bearing: 263.425136 deg,
      approach rate: -0.765021 m/s,
      LOS rate: 0.012547 deg/s,
      cmd heading: 260.546281 deg,
      new cmd heading: 260.560023 deg.

2025-06-27T19:44:19.965Z,1751053459.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547630 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:20.052Z,1751053460.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507390
2025-06-27T19:44:20.303Z,1751053460.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758893
2025-06-27T19:44:20.426Z,1751053460.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:20.428Z,1751053460.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:20.435Z,1751053460.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 97.226540 m,
      bearing: 263.430099 deg,
      approach rate: -0.660434 m/s,
      LOS rate: 0.010648 deg/s,
      cmd heading: 260.560024 deg,
      new cmd heading: 260.574962 deg.

2025-06-27T19:44:20.436Z,1751053460.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547891 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:20.556Z,1751053460.556 [DAT](INFO): DAT read: Rx Time:19:44:18.9057

2025-06-27T19:44:20.556Z,1751053460.556 [DAT](INFO): Rx dataTimestamp_ set to:1751053460.556016
2025-06-27T19:44:20.557Z,1751053460.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012384
2025-06-27T19:44:20.790Z,1751053460.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:20.793Z,1751053460.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 96.919273 m,
      bearing: 263.431709 deg,
      approach rate: -0.850644 m/s,
      LOS rate: 0.004471 deg/s,
      cmd heading: 260.574968 deg,
      new cmd heading: 260.579813 deg.

2025-06-27T19:44:20.794Z,1751053460.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547976 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:20.807Z,1751053460.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262933
2025-06-27T19:44:21.065Z,1751053461.065 [DAT](INFO): DAT read: 19:44:18.9057 LVL= 26896, 32753, 21362, 32755, AGC= 71, IDX= 399, 0.06,-2.483, 2.394,-2.567,-2.981, PHS= 0.586,-0.861, 0.411, RAW= 143.6,  -2.0, CAL= 148.2, -11.1, ROT=   1.8,  11.1

2025-06-27T19:44:21.072Z,1751053461.072 [DAT](INFO): got valid direction response:
 19:44:18.9057 LVL= 26896, 32753, 21362, 32755, AGC= 71, IDX= 399, 0.06,-2.483, 2.394,-2.567,-2.981, PHS= 0.586,-0.861, 0.411, RAW= 143.6,  -2.0, CAL= 148.2, -11.1, ROT=   1.8,  11.1

2025-06-27T19:44:21.072Z,1751053461.072 [DAT](INFO): DAT read: $Error in header

2025-06-27T19:44:21.073Z,1751053461.073 [DAT](INFO): Received a bad header
2025-06-27T19:44:21.087Z,1751053461.087 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-06-27T19:44:21.088Z,1751053461.088 [DAT](INFO): direction in FSK: [0.980808,0.030823,-0.192522]
2025-06-27T19:44:21.091Z,1751053461.091 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:21.091Z,1751053461.091 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:21.092Z,1751053461.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:21.182Z,1751053461.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:21.185Z,1751053461.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 96.638359 m,
      bearing: 263.433147 deg,
      approach rate: -0.738448 m/s,
      LOS rate: 0.003792 deg/s,
      cmd heading: 260.579804 deg,
      new cmd heading: 260.584132 deg.

2025-06-27T19:44:21.191Z,1751053461.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548051 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:21.311Z,1751053461.311 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:21.311Z,1751053461.311 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:21.311Z,1751053461.311 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:21.563Z,1751053461.563 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:21.563Z,1751053461.563 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:21.564Z,1751053461.564 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:21.619Z,1751053461.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:21.622Z,1751053461.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 96.306015 m,
      bearing: 263.430156 deg,
      approach rate: -0.740423 m/s,
      LOS rate: -0.006687 deg/s,
      cmd heading: 260.584120 deg,
      new cmd heading: 260.575116 deg.

2025-06-27T19:44:21.623Z,1751053461.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547894 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:21.816Z,1751053461.816 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:21.816Z,1751053461.816 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:21.816Z,1751053461.816 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:22.002Z,1751053462.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:22.006Z,1751053462.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 96.028107 m,
      bearing: 263.427944 deg,
      approach rate: -0.726641 m/s,
      LOS rate: -0.005801 deg/s,
      cmd heading: 260.575105 deg,
      new cmd heading: 260.568449 deg.

2025-06-27T19:44:22.008Z,1751053462.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547777 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:22.068Z,1751053462.068 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:22.068Z,1751053462.068 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:22.068Z,1751053462.068 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:22.319Z,1751053462.319 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:22.319Z,1751053462.319 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:22.319Z,1751053462.319 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:22.453Z,1751053462.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:22.460Z,1751053462.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:22.467Z,1751053462.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 95.711922 m,
      bearing: 263.425544 deg,
      approach rate: -0.690044 m/s,
      LOS rate: -0.005254 deg/s,
      cmd heading: 260.568438 deg,
      new cmd heading: 260.561216 deg.

2025-06-27T19:44:22.468Z,1751053462.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547651 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:22.572Z,1751053462.572 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:22.572Z,1751053462.572 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:22.572Z,1751053462.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:22.823Z,1751053462.823 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:22.823Z,1751053462.823 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:22.823Z,1751053462.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:22.826Z,1751053462.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:22.833Z,1751053462.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 95.430717 m,
      bearing: 263.419195 deg,
      approach rate: -0.767908 m/s,
      LOS rate: -0.017389 deg/s,
      cmd heading: 260.561226 deg,
      new cmd heading: 260.542122 deg.

2025-06-27T19:44:22.834Z,1751053462.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547318 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:23.075Z,1751053463.075 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:23.075Z,1751053463.075 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:23.075Z,1751053463.075 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:23.327Z,1751053463.327 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:23.327Z,1751053463.327 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:23.327Z,1751053463.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:23.529Z,1751053463.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:23.532Z,1751053463.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 94.911179 m,
      bearing: 263.409231 deg,
      approach rate: -0.738732 m/s,
      LOS rate: -0.014245 deg/s,
      cmd heading: 260.542128 deg,
      new cmd heading: 260.512073 deg.

2025-06-27T19:44:23.533Z,1751053463.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546793 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:23.580Z,1751053463.580 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:23.580Z,1751053463.580 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:23.580Z,1751053463.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:23.725Z,1751053463.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:23.736Z,1751053463.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 94.771507 m,
      bearing: 263.406499 deg,
      approach rate: -0.722469 m/s,
      LOS rate: -0.014155 deg/s,
      cmd heading: 260.512076 deg,
      new cmd heading: 260.503866 deg.

2025-06-27T19:44:23.737Z,1751053463.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546650 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:23.833Z,1751053463.833 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:23.834Z,1751053463.834 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:23.834Z,1751053463.834 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:24.083Z,1751053464.083 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:24.083Z,1751053464.083 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:24.083Z,1751053464.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:24.107Z,1751053464.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:24.110Z,1751053464.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 94.507507 m,
      bearing: 263.401196 deg,
      approach rate: -0.686242 m/s,
      LOS rate: -0.013822 deg/s,
      cmd heading: 260.503879 deg,
      new cmd heading: 260.487927 deg.

2025-06-27T19:44:24.115Z,1751053464.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546372 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:24.335Z,1751053464.335 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:24.335Z,1751053464.335 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:24.335Z,1751053464.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:24.548Z,1751053464.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:24.550Z,1751053464.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:24.553Z,1751053464.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 94.177780 m,
      bearing: 263.394828 deg,
      approach rate: -0.744567 m/s,
      LOS rate: -0.014432 deg/s,
      cmd heading: 260.487924 deg,
      new cmd heading: 260.468751 deg.

2025-06-27T19:44:24.554Z,1751053464.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546037 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:24.589Z,1751053464.589 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:24.589Z,1751053464.589 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:24.589Z,1751053464.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:24.839Z,1751053464.839 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:24.839Z,1751053464.839 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:24.839Z,1751053464.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:24.904Z,1751053464.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:24.912Z,1751053464.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 93.930916 m,
      bearing: 263.390030 deg,
      approach rate: -0.696951 m/s,
      LOS rate: -0.013580 deg/s,
      cmd heading: 260.468745 deg,
      new cmd heading: 260.454315 deg.

2025-06-27T19:44:24.913Z,1751053464.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545785 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:25.091Z,1751053465.091 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:25.091Z,1751053465.091 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:25.091Z,1751053465.091 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:25.302Z,1751053465.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:25.304Z,1751053465.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 93.656242 m,
      bearing: 263.384268 deg,
      approach rate: -0.691192 m/s,
      LOS rate: -0.014542 deg/s,
      cmd heading: 260.454320 deg,
      new cmd heading: 260.436984 deg.

2025-06-27T19:44:25.305Z,1751053465.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545483 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:25.344Z,1751053465.344 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:25.344Z,1751053465.344 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:25.344Z,1751053465.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:25.446Z,1751053465.446 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:44:25.595Z,1751053465.595 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:25.595Z,1751053465.595 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:25.595Z,1751053465.595 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:25.708Z,1751053465.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:25.711Z,1751053465.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 93.354698 m,
      bearing: 263.378909 deg,
      approach rate: -0.741795 m/s,
      LOS rate: -0.013225 deg/s,
      cmd heading: 260.436971 deg,
      new cmd heading: 260.420842 deg.

2025-06-27T19:44:25.712Z,1751053465.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545201 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:25.847Z,1751053465.847 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:25.847Z,1751053465.847 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:25.847Z,1751053465.847 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:26.086Z,1751053466.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:26.089Z,1751053466.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 93.087944 m,
      bearing: 263.374005 deg,
      approach rate: -0.705841 m/s,
      LOS rate: -0.013013 deg/s,
      cmd heading: 260.420852 deg,
      new cmd heading: 260.406097 deg.

2025-06-27T19:44:26.090Z,1751053466.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544944 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:26.099Z,1751053466.099 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:26.099Z,1751053466.099 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:26.099Z,1751053466.099 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:26.351Z,1751053466.351 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:26.351Z,1751053466.351 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:26.351Z,1751053466.351 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:26.448Z,1751053466.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:44:26.576Z,1751053466.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:26.578Z,1751053466.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:26.581Z,1751053466.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 92.742538 m,
      bearing: 263.370954 deg,
      approach rate: -0.702432 m/s,
      LOS rate: -0.006229 deg/s,
      cmd heading: 260.406098 deg,
      new cmd heading: 260.396910 deg.

2025-06-27T19:44:26.582Z,1751053466.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544784 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:26.606Z,1751053466.606 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:26.606Z,1751053466.606 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:26.606Z,1751053466.606 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:26.855Z,1751053466.855 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:26.855Z,1751053466.855 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:26.855Z,1751053466.855 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:26.915Z,1751053466.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:26.922Z,1751053466.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 92.522179 m,
      bearing: 263.368764 deg,
      approach rate: -0.652531 m/s,
      LOS rate: -0.006502 deg/s,
      cmd heading: 260.396919 deg,
      new cmd heading: 260.390332 deg.

2025-06-27T19:44:26.924Z,1751053466.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544669 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:27.107Z,1751053467.107 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:27.107Z,1751053467.107 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:27.107Z,1751053467.107 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:27.295Z,1751053467.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:27.298Z,1751053467.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 92.239708 m,
      bearing: 263.365873 deg,
      approach rate: -0.744308 m/s,
      LOS rate: -0.007640 deg/s,
      cmd heading: 260.390334 deg,
      new cmd heading: 260.381636 deg.

2025-06-27T19:44:27.299Z,1751053467.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544517 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:27.360Z,1751053467.360 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:27.360Z,1751053467.360 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:27.360Z,1751053467.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-06-27T19:44:27.612Z,1751053467.612 [DAT](INFO): Reached modem response timeout
2025-06-27T19:44:27.613Z,1751053467.613 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:44:27.613Z,1751053467.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:27.726Z,1751053467.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:27.729Z,1751053467.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 91.927345 m,
      bearing: 263.361064 deg,
      approach rate: -0.725301 m/s,
      LOS rate: -0.011204 deg/s,
      cmd heading: 260.381646 deg,
      new cmd heading: 260.367171 deg.

2025-06-27T19:44:27.730Z,1751053467.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544264 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:27.863Z,1751053467.863 [DAT](INFO): Reached modem response timeout
2025-06-27T19:44:27.863Z,1751053467.863 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:44:27.864Z,1751053467.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:28.115Z,1751053468.115 [DAT](INFO): Reached modem response timeout
2025-06-27T19:44:28.115Z,1751053468.115 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:44:28.116Z,1751053468.116 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:28.118Z,1751053468.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:28.121Z,1751053468.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 91.654434 m,
      bearing: 263.356799 deg,
      approach rate: -0.702053 m/s,
      LOS rate: -0.011004 deg/s,
      cmd heading: 260.367166 deg,
      new cmd heading: 260.354333 deg.

2025-06-27T19:44:28.122Z,1751053468.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544040 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:28.367Z,1751053468.367 [DAT](INFO): DAT read: Response Not Received

2025-06-27T19:44:28.368Z,1751053468.368 [DAT](INFO): response not received
2025-06-27T19:44:28.368Z,1751053468.368 [DAT](INFO): DAT read: user:2713>

2025-06-27T19:44:28.369Z,1751053468.369 [DAT](INFO): DAT read: Tx time:19:44:27.3202

2025-06-27T19:44:28.369Z,1751053468.369 [DAT](INFO): Ping request sent.
2025-06-27T19:44:28.369Z,1751053468.369 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:28.369Z,1751053468.369 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:28.370Z,1751053468.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-06-27T19:44:28.581Z,1751053468.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:28.584Z,1751053468.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:28.603Z,1751053468.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 91.304344 m,
      bearing: 263.358292 deg,
      approach rate: -0.745771 m/s,
      LOS rate: 0.003192 deg/s,
      cmd heading: 260.354326 deg,
      new cmd heading: 260.358821 deg.

2025-06-27T19:44:28.604Z,1751053468.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544119 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:28.620Z,1751053468.620 [DAT](INFO): DAT read: TxSync time:19:44:27.3194

2025-06-27T19:44:28.620Z,1751053468.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250983
2025-06-27T19:44:28.872Z,1751053468.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502527
2025-06-27T19:44:28.931Z,1751053468.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:28.938Z,1751053468.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 91.049171 m,
      bearing: 263.359597 deg,
      approach rate: -0.734010 m/s,
      LOS rate: 0.003765 deg/s,
      cmd heading: 260.358833 deg,
      new cmd heading: 260.362760 deg.

2025-06-27T19:44:28.939Z,1751053468.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544188 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:29.123Z,1751053469.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753930
2025-06-27T19:44:29.316Z,1751053469.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:29.319Z,1751053469.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 90.768394 m,
      bearing: 263.361302 deg,
      approach rate: -0.729888 m/s,
      LOS rate: 0.004446 deg/s,
      cmd heading: 260.362768 deg,
      new cmd heading: 260.367898 deg.

2025-06-27T19:44:29.320Z,1751053469.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544277 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:29.377Z,1751053469.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986
2025-06-27T19:44:29.627Z,1751053469.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257961
2025-06-27T19:44:29.753Z,1751053469.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:29.756Z,1751053469.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 90.437897 m,
      bearing: 263.367988 deg,
      approach rate: -0.756416 m/s,
      LOS rate: 0.015357 deg/s,
      cmd heading: 260.367904 deg,
      new cmd heading: 260.388033 deg.

2025-06-27T19:44:29.757Z,1751053469.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544629 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:29.880Z,1751053469.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511023
2025-06-27T19:44:30.124Z,1751053470.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:30.127Z,1751053470.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 90.156975 m,
      bearing: 263.374126 deg,
      approach rate: -0.756755 m/s,
      LOS rate: 0.016587 deg/s,
      cmd heading: 260.388039 deg,
      new cmd heading: 260.406511 deg.

2025-06-27T19:44:30.128Z,1751053470.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544951 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:30.131Z,1751053470.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762169
2025-06-27T19:44:30.387Z,1751053470.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017453
2025-06-27T19:44:30.588Z,1751053470.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:30.594Z,1751053470.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:30.597Z,1751053470.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 89.808182 m,
      bearing: 263.381766 deg,
      approach rate: -0.748644 m/s,
      LOS rate: 0.016462 deg/s,
      cmd heading: 260.406508 deg,
      new cmd heading: 260.429518 deg.

2025-06-27T19:44:30.598Z,1751053470.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545352 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:30.638Z,1751053470.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268661
2025-06-27T19:44:30.891Z,1751053470.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522027
2025-06-27T19:44:30.967Z,1751053470.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:30.969Z,1751053470.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 89.520287 m,
      bearing: 263.388341 deg,
      approach rate: -0.765402 m/s,
      LOS rate: 0.017538 deg/s,
      cmd heading: 260.429512 deg,
      new cmd heading: 260.449303 deg.

2025-06-27T19:44:30.971Z,1751053470.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545698 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:31.143Z,1751053471.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773955
2025-06-27T19:44:31.338Z,1751053471.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:31.341Z,1751053471.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 89.239204 m,
      bearing: 263.394892 deg,
      approach rate: -0.756162 m/s,
      LOS rate: 0.017678 deg/s,
      cmd heading: 260.449293 deg,
      new cmd heading: 260.469007 deg.

2025-06-27T19:44:31.342Z,1751053471.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546042 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:31.399Z,1751053471.399 [DAT](INFO): DAT read: Rx Time:19:44:29.8455

2025-06-27T19:44:31.400Z,1751053471.400 [DAT](INFO): Rx dataTimestamp_ set to:1751053471.399691
2025-06-27T19:44:31.401Z,1751053471.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031534
2025-06-27T19:44:31.647Z,1751053471.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278001
2025-06-27T19:44:31.775Z,1751053471.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.58 m.
2025-06-27T19:44:31.778Z,1751053471.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.576439 m,
      nav range: 88.903549 m,
      bearing: 263.402618 deg,
      approach rate: -0.767645 m/s,
      LOS rate: 0.017736 deg/s,
      cmd heading: 260.469018 deg,
      new cmd heading: 260.492283 deg.

2025-06-27T19:44:31.779Z,1751053471.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546448 target range: 100.576439 and range: 101.50 m.
2025-06-27T19:44:31.899Z,1751053471.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530126
2025-06-27T19:44:32.158Z,1751053472.158 [DAT](INFO): DAT read: 19:44:29.8455 LVL= 27120, 31473, 21458, 32755, AGC= 68, IDX= 356,-0.12, 1.241,-0.125, 1.182, 0.749, PHS= 0.579,-0.827, 0.430, RAW= 144.4,  -2.8, CAL= 149.1, -11.8, ROT=   0.9,  11.8

2025-06-27T19:44:32.159Z,1751053472.159 [DAT](INFO): got valid direction response:
 19:44:29.8455 LVL= 27120, 31473, 21458, 32755, AGC= 68, IDX= 356,-0.12, 1.241,-0.125, 1.182, 0.749, PHS= 0.579,-0.827, 0.430, RAW= 144.4,  -2.8, CAL= 149.1, -11.8, ROT=   0.9,  11.8

2025-06-27T19:44:32.160Z,1751053472.160 [DAT](INFO): DAT read: Bearing   0.9,  11.8 (Local)

2025-06-27T19:44:32.160Z,1751053472.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  11.8 (Local)

2025-06-27T19:44:32.162Z,1751053472.162 [DAT](INFO): DAT read: Range 10 to 50 : 90.7 m  (Round-trip  121.0 ms) speed  0.6 m/s

2025-06-27T19:44:32.163Z,1751053472.163 [DAT](INFO): DAT read: user:2714>

2025-06-27T19:44:32.163Z,1751053472.163 [DAT](INFO): DAT read: Tx time:19:44:30.9703

2025-06-27T19:44:32.164Z,1751053472.164 [DAT](INFO): Ping request sent.
2025-06-27T19:44:32.164Z,1751053472.164 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:32.164Z,1751053472.164 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:32.165Z,1751053472.165 [DAT](INFO): direction in FSK: [0.978747,0.015375,-0.204496]
2025-06-27T19:44:32.165Z,1751053472.165 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:32.165Z,1751053472.165 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:32.169Z,1751053472.169 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:32.169Z,1751053472.169 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:32.283Z,1751053472.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.699997 m,
      deltaT: 14.620282 s,
      deltaX: -10.800003 m,
      approachRate: -0.738700 m/s,
      rangeRepo size: 4

2025-06-27T19:44:32.286Z,1751053472.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.874634 m,
      bearing: 262.658126 deg,
      lat: 36.906858 deg,
      lon: -122.116481 deg,
      deltaT: 14.620282 s,
      deltaX: -10.701805 m,
      approachRate: -0.731983 m/s,
      posRepo size: 4

2025-06-27T19:44:32.290Z,1751053472.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:32.293Z,1751053472.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 88.533676 m,
      bearing: 263.410107 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017736 deg/s,
      cmd heading: 260.492295 deg,
      new cmd heading: 260.518601 deg.

2025-06-27T19:44:32.294Z,1751053472.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546907 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:32.404Z,1751053472.404 [DAT](INFO): DAT read: TxSync time:19:44:30.9695

2025-06-27T19:44:32.658Z,1751053472.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:32.665Z,1751053472.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:32.672Z,1751053472.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 88.232727 m,
      bearing: 263.418915 deg,
      approach rate: -0.761596 m/s,
      LOS rate: 0.022365 deg/s,
      cmd heading: 260.518605 deg,
      new cmd heading: 260.545118 deg.

2025-06-27T19:44:32.673Z,1751053472.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547370 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:32.907Z,1751053472.907 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:32.907Z,1751053472.907 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:32.907Z,1751053472.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:33.023Z,1751053473.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:33.027Z,1751053473.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 87.945145 m,
      bearing: 263.427387 deg,
      approach rate: -0.805321 m/s,
      LOS rate: 0.023804 deg/s,
      cmd heading: 260.545106 deg,
      new cmd heading: 260.570608 deg.

2025-06-27T19:44:33.028Z,1751053473.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547815 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:33.159Z,1751053473.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995586
2025-06-27T19:44:33.391Z,1751053473.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:33.394Z,1751053473.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 87.661102 m,
      bearing: 263.436068 deg,
      approach rate: -0.768871 m/s,
      LOS rate: 0.023574 deg/s,
      cmd heading: 260.570597 deg,
      new cmd heading: 260.596723 deg.

2025-06-27T19:44:33.395Z,1751053473.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548271 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:33.413Z,1751053473.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249598
2025-06-27T19:44:33.663Z,1751053473.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499581
2025-06-27T19:44:33.815Z,1751053473.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:33.818Z,1751053473.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 87.341454 m,
      bearing: 263.446797 deg,
      approach rate: -0.753903 m/s,
      LOS rate: 0.025398 deg/s,
      cmd heading: 260.596715 deg,
      new cmd heading: 260.629021 deg.

2025-06-27T19:44:33.819Z,1751053473.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548834 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:33.915Z,1751053473.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751688
2025-06-27T19:44:34.167Z,1751053474.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003445
2025-06-27T19:44:34.204Z,1751053474.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:34.207Z,1751053474.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 87.048492 m,
      bearing: 263.456560 deg,
      approach rate: -0.754176 m/s,
      LOS rate: 0.025216 deg/s,
      cmd heading: 260.629008 deg,
      new cmd heading: 260.658394 deg.

2025-06-27T19:44:34.208Z,1751053474.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549347 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:34.419Z,1751053474.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255547
2025-06-27T19:44:34.671Z,1751053474.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507753
2025-06-27T19:44:34.673Z,1751053474.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:34.675Z,1751053474.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:34.678Z,1751053474.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 86.698418 m,
      bearing: 263.466550 deg,
      approach rate: -0.742954 m/s,
      LOS rate: 0.021287 deg/s,
      cmd heading: 260.658406 deg,
      new cmd heading: 260.688497 deg.

2025-06-27T19:44:34.679Z,1751053474.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549872 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:34.923Z,1751053474.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759579
2025-06-27T19:44:35.019Z,1751053475.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:35.023Z,1751053475.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 86.444145 m,
      bearing: 263.473802 deg,
      approach rate: -0.741077 m/s,
      LOS rate: 0.021198 deg/s,
      cmd heading: 260.688486 deg,
      new cmd heading: 260.710306 deg.

2025-06-27T19:44:35.025Z,1751053475.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550253 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:35.175Z,1751053475.175 [DAT](INFO): DAT read: Rx Time:19:44:33.4916

2025-06-27T19:44:35.176Z,1751053475.176 [DAT](INFO): Rx dataTimestamp_ set to:1751053475.175570
2025-06-27T19:44:35.176Z,1751053475.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012667
2025-06-27T19:44:35.399Z,1751053475.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.87 m.
2025-06-27T19:44:35.403Z,1751053475.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.874634 m,
      nav range: 86.155792 m,
      bearing: 263.482003 deg,
      approach rate: -0.756112 m/s,
      LOS rate: 0.021578 deg/s,
      cmd heading: 260.710315 deg,
      new cmd heading: 260.735002 deg.

2025-06-27T19:44:35.403Z,1751053475.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550684 target range: 89.874634 and range: 90.70 m.
2025-06-27T19:44:35.428Z,1751053475.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263781
2025-06-27T19:44:35.685Z,1751053475.685 [DAT](INFO): DAT read: 19:44:33.4916 LVL= 30016, 30593, 22722, 32755, AGC= 70, IDX= 396,-0.11, 2.806, 1.445, 2.757, 2.316, PHS= 0.578,-0.824, 0.438, RAW= 144.8,  -2.9, CAL= 149.5, -11.9, ROT=   0.5,  11.9

2025-06-27T19:44:35.686Z,1751053475.686 [DAT](INFO): got valid direction response:
 19:44:33.4916 LVL= 30016, 30593, 22722, 32755, AGC= 70, IDX= 396,-0.11, 2.806, 1.445, 2.757, 2.316, PHS= 0.578,-0.824, 0.438, RAW= 144.8,  -2.9, CAL= 149.5, -11.9, ROT=   0.5,  11.9

2025-06-27T19:44:35.687Z,1751053475.687 [DAT](INFO): DAT read: Bearing   0.5,  11.9 (Local)

2025-06-27T19:44:35.688Z,1751053475.688 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  11.9 (Local)

2025-06-27T19:44:35.689Z,1751053475.689 [DAT](INFO): DAT read: Range 10 to 50 : 87.8 m  (Round-trip  117.1 ms) speed  0.6 m/s

2025-06-27T19:44:35.690Z,1751053475.690 [DAT](INFO): DAT read: user:2715>

2025-06-27T19:44:35.691Z,1751053475.691 [DAT](INFO): DAT read: Tx time:19:44:34.5703

2025-06-27T19:44:35.691Z,1751053475.691 [DAT](INFO): Ping request sent.
2025-06-27T19:44:35.691Z,1751053475.691 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:35.692Z,1751053475.692 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:35.693Z,1751053475.693 [DAT](INFO): direction in FSK: [0.978472,0.008539,-0.206204]
2025-06-27T19:44:35.693Z,1751053475.693 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:35.693Z,1751053475.693 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:35.705Z,1751053475.705 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:35.705Z,1751053475.705 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:35.876Z,1751053475.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.800003 m,
      deltaT: 3.527491 s,
      deltaX: -2.899994 m,
      approachRate: -0.822112 m/s,
      rangeRepo size: 4

2025-06-27T19:44:35.883Z,1751053475.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.001022 m,
      bearing: 262.277682 deg,
      lat: 36.906848 deg,
      lon: -122.116480 deg,
      deltaT: 3.527491 s,
      deltaX: -2.873611 m,
      approachRate: -0.814633 m/s,
      posRepo size: 4

2025-06-27T19:44:35.883Z,1751053475.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:35.886Z,1751053475.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 85.845833 m,
      bearing: 262.713322 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021578 deg/s,
      cmd heading: 260.735013 deg,
      new cmd heading: 260.765833 deg.

2025-06-27T19:44:35.891Z,1751053475.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551222 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:35.932Z,1751053475.932 [DAT](INFO): DAT read: TxSync time:19:44:34.5695

2025-06-27T19:44:36.209Z,1751053476.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:36.212Z,1751053476.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 85.590462 m,
      bearing: 262.716195 deg,
      approach rate: -0.765893 m/s,
      LOS rate: 0.008641 deg/s,
      cmd heading: 260.765831 deg,
      new cmd heading: 260.774474 deg.

2025-06-27T19:44:36.213Z,1751053476.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551373 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:36.751Z,1751053476.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:36.753Z,1751053476.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:36.757Z,1751053476.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 85.197426 m,
      bearing: 262.719204 deg,
      approach rate: -0.722803 m/s,
      LOS rate: 0.005560 deg/s,
      cmd heading: 260.774464 deg,
      new cmd heading: 260.783535 deg.

2025-06-27T19:44:36.758Z,1751053476.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551531 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:36.939Z,1751053476.939 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:36.939Z,1751053476.939 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:36.940Z,1751053476.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:37.084Z,1751053477.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:37.103Z,1751053477.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 84.957756 m,
      bearing: 262.721119 deg,
      approach rate: -0.724371 m/s,
      LOS rate: 0.005804 deg/s,
      cmd heading: 260.783535 deg,
      new cmd heading: 260.789295 deg.

2025-06-27T19:44:37.104Z,1751053477.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551632 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:37.192Z,1751053477.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500811
2025-06-27T19:44:37.444Z,1751053477.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752198
2025-06-27T19:44:37.519Z,1751053477.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:37.522Z,1751053477.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 84.643982 m,
      bearing: 262.723683 deg,
      approach rate: -0.720156 m/s,
      LOS rate: 0.005906 deg/s,
      cmd heading: 260.789299 deg,
      new cmd heading: 260.797019 deg.

2025-06-27T19:44:37.523Z,1751053477.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551767 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:37.697Z,1751053477.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005360
2025-06-27T19:44:37.935Z,1751053477.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:37.938Z,1751053477.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 84.340965 m,
      bearing: 262.718085 deg,
      approach rate: -0.728819 m/s,
      LOS rate: -0.013511 deg/s,
      cmd heading: 260.797031 deg,
      new cmd heading: 260.780179 deg.

2025-06-27T19:44:37.939Z,1751053477.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551473 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:37.947Z,1751053477.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256041
2025-06-27T19:44:38.199Z,1751053478.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508008
2025-06-27T19:44:38.300Z,1751053478.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:38.303Z,1751053478.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 84.075722 m,
      bearing: 262.713015 deg,
      approach rate: -0.726812 m/s,
      LOS rate: -0.013937 deg/s,
      cmd heading: 260.780174 deg,
      new cmd heading: 260.764916 deg.

2025-06-27T19:44:38.304Z,1751053478.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551206 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:38.451Z,1751053478.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760010
2025-06-27T19:44:38.703Z,1751053478.703 [DAT](INFO): DAT read: Rx Time:19:44:37.0879

2025-06-27T19:44:38.704Z,1751053478.704 [DAT](INFO): Rx dataTimestamp_ set to:1751053478.703642
2025-06-27T19:44:38.704Z,1751053478.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013136
2025-06-27T19:44:38.741Z,1751053478.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:38.744Z,1751053478.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 83.759666 m,
      bearing: 262.708071 deg,
      approach rate: -0.716485 m/s,
      LOS rate: -0.011251 deg/s,
      cmd heading: 260.764902 deg,
      new cmd heading: 260.750013 deg.

2025-06-27T19:44:38.745Z,1751053478.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550946 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:38.957Z,1751053478.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265676
2025-06-27T19:44:39.100Z,1751053479.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:39.102Z,1751053479.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-06-27T19:44:39.105Z,1751053479.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.001022 m,
      nav range: 83.501465 m,
      bearing: 262.703921 deg,
      approach rate: -0.715954 m/s,
      LOS rate: -0.011543 deg/s,
      cmd heading: 260.750012 deg,
      new cmd heading: 260.737523 deg.

2025-06-27T19:44:39.106Z,1751053479.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550728 target range: 87.001022 and range: 87.80 m.
2025-06-27T19:44:39.236Z,1751053479.236 [DAT](INFO): DAT read: 19:44:37.0879 LVL= 22224, 24689, 18594, 30963, AGC= 69, IDX= 407,-0.28, 1.934, 0.462, 1.886, 1.450, PHS= 0.572,-0.940, 0.434, RAW= 145.2,  -0.9, CAL= 149.3, -10.0, ROT=   0.7,  10.0

2025-06-27T19:44:39.237Z,1751053479.237 [DAT](INFO): got valid direction response:
 19:44:37.0879 LVL= 22224, 24689, 18594, 30963, AGC= 69, IDX= 407,-0.28, 1.934, 0.462, 1.886, 1.450, PHS= 0.572,-0.940, 0.434, RAW= 145.2,  -0.9, CAL= 149.3, -10.0, ROT=   0.7,  10.0

2025-06-27T19:44:39.243Z,1751053479.243 [DAT](INFO): DAT read: Bearing   0.7,  10.0 (Local)

2025-06-27T19:44:39.243Z,1751053479.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  10.0 (Local)

2025-06-27T19:44:39.245Z,1751053479.245 [DAT](INFO): DAT read: Range 10 to 50 : 85.1 m  (Round-trip  113.5 ms) speed  0.7 m/s

2025-06-27T19:44:39.245Z,1751053479.245 [DAT](INFO): DAT read: user:2716>

2025-06-27T19:44:39.246Z,1751053479.246 [DAT](INFO): DAT read: Tx time:19:44:38.1703

2025-06-27T19:44:39.251Z,1751053479.251 [DAT](INFO): Ping request sent.
2025-06-27T19:44:39.251Z,1751053479.251 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:39.251Z,1751053479.251 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:39.252Z,1751053479.252 [DAT](INFO): direction in FSK: [0.984734,0.012031,-0.173648]
2025-06-27T19:44:39.252Z,1751053479.252 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:39.253Z,1751053479.253 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:39.257Z,1751053479.257 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:39.257Z,1751053479.257 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:39.462Z,1751053479.462 [DAT](INFO): DAT read: TxSync time:19:44:38.1695

2025-06-27T19:44:39.516Z,1751053479.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.099998 m,
      deltaT: 3.529716 s,
      deltaX: -2.700005 m,
      approachRate: -0.764935 m/s,
      rangeRepo size: 4

2025-06-27T19:44:39.518Z,1751053479.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.325958 m,
      bearing: 262.411385 deg,
      lat: 36.906844 deg,
      lon: -122.116480 deg,
      deltaT: 3.529716 s,
      deltaX: -2.675064 m,
      approachRate: -0.757869 m/s,
      posRepo size: 4

2025-06-27T19:44:39.535Z,1751053479.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:39.538Z,1751053479.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 83.267097 m,
      bearing: 262.387373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011543 deg/s,
      cmd heading: 260.737527 deg,
      new cmd heading: 260.723213 deg.

2025-06-27T19:44:39.543Z,1751053479.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550478 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:39.955Z,1751053479.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:39.957Z,1751053479.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 82.976784 m,
      bearing: 262.378728 deg,
      approach rate: -0.667327 m/s,
      LOS rate: -0.019940 deg/s,
      cmd heading: 260.723210 deg,
      new cmd heading: 260.697187 deg.

2025-06-27T19:44:39.964Z,1751053479.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550024 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:40.307Z,1751053480.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:40.309Z,1751053480.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 82.704765 m,
      bearing: 262.370393 deg,
      approach rate: -0.763321 m/s,
      LOS rate: -0.023467 deg/s,
      cmd heading: 260.697174 deg,
      new cmd heading: 260.672085 deg.

2025-06-27T19:44:40.311Z,1751053480.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549586 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:40.768Z,1751053480.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:40.771Z,1751053480.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 82.378197 m,
      bearing: 262.361404 deg,
      approach rate: -0.707416 m/s,
      LOS rate: -0.019550 deg/s,
      cmd heading: 260.672093 deg,
      new cmd heading: 260.645019 deg.

2025-06-27T19:44:40.772Z,1751053480.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549114 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:41.114Z,1751053481.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:41.124Z,1751053481.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:41.131Z,1751053481.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 82.132080 m,
      bearing: 262.354302 deg,
      approach rate: -0.691483 m/s,
      LOS rate: -0.020012 deg/s,
      cmd heading: 260.645018 deg,
      new cmd heading: 260.623650 deg.

2025-06-27T19:44:41.132Z,1751053481.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548741 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:41.224Z,1751053481.224 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:41.224Z,1751053481.224 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:41.224Z,1751053481.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:41.476Z,1751053481.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224739
2025-06-27T19:44:41.531Z,1751053481.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:41.534Z,1751053481.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 81.837830 m,
      bearing: 262.345589 deg,
      approach rate: -0.722484 m/s,
      LOS rate: -0.021472 deg/s,
      cmd heading: 260.623654 deg,
      new cmd heading: 260.597418 deg.

2025-06-27T19:44:41.535Z,1751053481.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548283 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:41.727Z,1751053481.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476545
2025-06-27T19:44:41.956Z,1751053481.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:41.964Z,1751053481.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 81.535286 m,
      bearing: 262.339203 deg,
      approach rate: -0.711752 m/s,
      LOS rate: -0.015078 deg/s,
      cmd heading: 260.597426 deg,
      new cmd heading: 260.578198 deg.

2025-06-27T19:44:41.965Z,1751053481.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547947 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:41.996Z,1751053481.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745264
2025-06-27T19:44:42.249Z,1751053482.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998258
2025-06-27T19:44:42.334Z,1751053482.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:42.336Z,1751053482.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 81.266785 m,
      bearing: 262.333265 deg,
      approach rate: -0.711833 m/s,
      LOS rate: -0.015795 deg/s,
      cmd heading: 260.578192 deg,
      new cmd heading: 260.560318 deg.

2025-06-27T19:44:42.337Z,1751053482.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547636 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:42.499Z,1751053482.499 [DAT](INFO): DAT read: Rx Time:19:44:40.6848

2025-06-27T19:44:42.500Z,1751053482.500 [DAT](INFO): Rx dataTimestamp_ set to:1751053482.499566
2025-06-27T19:44:42.500Z,1751053482.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249626
2025-06-27T19:44:42.753Z,1751053482.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502132
2025-06-27T19:44:42.856Z,1751053482.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.33 m.
2025-06-27T19:44:42.860Z,1751053482.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.325958 m,
      nav range: 80.890198 m,
      bearing: 262.326250 deg,
      approach rate: -0.720818 m/s,
      LOS rate: -0.013489 deg/s,
      cmd heading: 260.560324 deg,
      new cmd heading: 260.539182 deg.

2025-06-27T19:44:42.861Z,1751053482.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547266 target range: 84.325958 and range: 85.10 m.
2025-06-27T19:44:43.018Z,1751053483.018 [DAT](INFO): DAT read: 19:44:40.6848 LVL= 31040, 32449, 22098, 32755, AGC= 68, IDX= 406,-0.19, 2.294, 0.922, 2.233, 1.774, PHS= 0.608,-0.805, 0.456, RAW= 144.4,  -3.9, CAL= 149.4, -12.9, ROT=   0.6,  12.9

2025-06-27T19:44:43.020Z,1751053483.020 [DAT](INFO): got valid direction response:
 19:44:40.6848 LVL= 31040, 32449, 22098, 32755, AGC= 68, IDX= 406,-0.19, 2.294, 0.922, 2.233, 1.774, PHS= 0.608,-0.805, 0.456, RAW= 144.4,  -3.9, CAL= 149.4, -12.9, ROT=   0.6,  12.9

2025-06-27T19:44:43.021Z,1751053483.021 [DAT](INFO): DAT read: Bearing   0.6,  12.9 (Local)

2025-06-27T19:44:43.021Z,1751053483.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  12.9 (Local)

2025-06-27T19:44:43.024Z,1751053483.024 [DAT](INFO): DAT read: Range 10 to 50 : 82.7 m  (Round-trip  110.3 ms) speed  0.7 m/s

2025-06-27T19:44:43.025Z,1751053483.025 [DAT](INFO): DAT read: user:2717>

2025-06-27T19:44:43.026Z,1751053483.026 [DAT](INFO): DAT read: Tx time:19:44:41.7704

2025-06-27T19:44:43.027Z,1751053483.027 [DAT](INFO): Ping request sent.
2025-06-27T19:44:43.028Z,1751053483.028 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:43.031Z,1751053483.031 [DAT](INFO): DAT read: TxSync time:19:44:41.7696

2025-06-27T19:44:43.033Z,1751053483.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:43.035Z,1751053483.035 [DAT](INFO): direction in FSK: [0.974708,0.010207,-0.223250]
2025-06-27T19:44:43.035Z,1751053483.035 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:43.036Z,1751053483.036 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:43.039Z,1751053483.039 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:43.039Z,1751053483.039 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:43.187Z,1751053483.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.699997 m,
      deltaT: 3.794765 s,
      deltaX: -2.400002 m,
      approachRate: -0.632451 m/s,
      rangeRepo size: 4

2025-06-27T19:44:43.189Z,1751053483.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.947891 m,
      bearing: 262.728204 deg,
      lat: 36.906844 deg,
      lon: -122.116479 deg,
      deltaT: 3.794765 s,
      deltaX: -2.378067 m,
      approachRate: -0.626670 m/s,
      posRepo size: 4

2025-06-27T19:44:43.190Z,1751053483.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:43.205Z,1751053483.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 80.562958 m,
      bearing: 262.311835 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013489 deg/s,
      cmd heading: 260.539178 deg,
      new cmd heading: 260.526133 deg.

2025-06-27T19:44:43.206Z,1751053483.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547039 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:43.556Z,1751053483.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:43.559Z,1751053483.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:43.561Z,1751053483.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 80.277328 m,
      bearing: 262.306341 deg,
      approach rate: -0.751611 m/s,
      LOS rate: -0.014510 deg/s,
      cmd heading: 260.526146 deg,
      new cmd heading: 260.509604 deg.

2025-06-27T19:44:43.563Z,1751053483.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546751 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:43.759Z,1751053483.759 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:43.759Z,1751053483.759 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:43.759Z,1751053483.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:43.974Z,1751053483.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:43.977Z,1751053483.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 79.976166 m,
      bearing: 262.303257 deg,
      approach rate: -0.724766 m/s,
      LOS rate: -0.007450 deg/s,
      cmd heading: 260.509617 deg,
      new cmd heading: 260.500330 deg.

2025-06-27T19:44:43.978Z,1751053483.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546588 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:44.012Z,1751053484.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984245
2025-06-27T19:44:44.263Z,1751053484.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235957
2025-06-27T19:44:44.367Z,1751053484.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:44.370Z,1751053484.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 79.697762 m,
      bearing: 262.300505 deg,
      approach rate: -0.708341 m/s,
      LOS rate: -0.007025 deg/s,
      cmd heading: 260.500328 deg,
      new cmd heading: 260.492045 deg.

2025-06-27T19:44:44.375Z,1751053484.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546444 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:44.515Z,1751053484.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488076
2025-06-27T19:44:44.771Z,1751053484.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742780
2025-06-27T19:44:44.828Z,1751053484.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:44.831Z,1751053484.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 79.341904 m,
      bearing: 262.298420 deg,
      approach rate: -0.772041 m/s,
      LOS rate: -0.004544 deg/s,
      cmd heading: 260.492050 deg,
      new cmd heading: 260.485766 deg.

2025-06-27T19:44:44.832Z,1751053484.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546334 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:45.020Z,1751053485.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992643
2025-06-27T19:44:45.162Z,1751053485.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:45.165Z,1751053485.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 79.092438 m,
      bearing: 262.296898 deg,
      approach rate: -0.746194 m/s,
      LOS rate: -0.004567 deg/s,
      cmd heading: 260.485766 deg,
      new cmd heading: 260.481185 deg.

2025-06-27T19:44:45.186Z,1751053485.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546254 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:45.271Z,1751053485.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244112
2025-06-27T19:44:45.523Z,1751053485.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495900
2025-06-27T19:44:45.578Z,1751053485.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:45.580Z,1751053485.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:45.583Z,1751053485.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 78.781067 m,
      bearing: 262.294985 deg,
      approach rate: -0.745488 m/s,
      LOS rate: -0.004599 deg/s,
      cmd heading: 260.481176 deg,
      new cmd heading: 260.475414 deg.

2025-06-27T19:44:45.584Z,1751053485.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546154 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:45.780Z,1751053485.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751676
2025-06-27T19:44:46.008Z,1751053486.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:46.013Z,1751053486.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 78.456253 m,
      bearing: 262.299014 deg,
      approach rate: -0.758776 m/s,
      LOS rate: 0.009451 deg/s,
      cmd heading: 260.475411 deg,
      new cmd heading: 260.487548 deg.

2025-06-27T19:44:46.027Z,1751053486.027 [DAT](INFO): DAT read: Rx Time:19:44:44.2813

2025-06-27T19:44:46.028Z,1751053486.028 [DAT](INFO): Rx dataTimestamp_ set to:1751053486.027690
2025-06-27T19:44:46.029Z,1751053486.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001192
2025-06-27T19:44:46.042Z,1751053486.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546365 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:46.279Z,1751053486.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251939
2025-06-27T19:44:46.418Z,1751053486.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-06-27T19:44:46.433Z,1751053486.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.947891 m,
      nav range: 78.175308 m,
      bearing: 262.302673 deg,
      approach rate: -0.689367 m/s,
      LOS rate: 0.009012 deg/s,
      cmd heading: 260.487542 deg,
      new cmd heading: 260.498560 deg.

2025-06-27T19:44:46.439Z,1751053486.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546557 target range: 81.947891 and range: 82.70 m.
2025-06-27T19:44:46.540Z,1751053486.540 [DAT](INFO): DAT read: 19:44:44.2813 LVL= 23984, 23537, 22930, 32755, AGC= 68, IDX= 402,-0.15, 1.098,-0.413, 1.059, 0.610, PHS= 0.576,-0.976, 0.446, RAW= 145.7,  -0.6, CAL= 149.6,  -9.7, ROT=   0.4,   9.7

2025-06-27T19:44:46.541Z,1751053486.541 [DAT](INFO): got valid direction response:
 19:44:44.2813 LVL= 23984, 23537, 22930, 32755, AGC= 68, IDX= 402,-0.15, 1.098,-0.413, 1.059, 0.610, PHS= 0.576,-0.976, 0.446, RAW= 145.7,  -0.6, CAL= 149.6,  -9.7, ROT=   0.4,   9.7

2025-06-27T19:44:46.542Z,1751053486.542 [DAT](INFO): DAT read: Bearing   0.4,   9.7 (Local)

2025-06-27T19:44:46.543Z,1751053486.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,   9.7 (Local)

2025-06-27T19:44:46.544Z,1751053486.544 [DAT](INFO): DAT read: Range 10 to 50 : 80.1 m  (Round-trip  106.8 ms) speed  0.8 m/s

2025-06-27T19:44:46.545Z,1751053486.545 [DAT](INFO): DAT read: user:2718>

2025-06-27T19:44:46.546Z,1751053486.546 [DAT](INFO): DAT read: Tx time:19:44:45.3704

2025-06-27T19:44:46.546Z,1751053486.546 [DAT](INFO): Ping request sent.
2025-06-27T19:44:46.546Z,1751053486.546 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:46.547Z,1751053486.547 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:46.548Z,1751053486.548 [DAT](INFO): direction in FSK: [0.985679,0.006881,-0.168489]
2025-06-27T19:44:46.548Z,1751053486.548 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:46.548Z,1751053486.548 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:46.551Z,1751053486.551 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:46.552Z,1751053486.552 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:46.787Z,1751053486.787 [DAT](INFO): DAT read: TxSync time:19:44:45.3696

2025-06-27T19:44:46.864Z,1751053486.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.099998 m,
      deltaT: 3.528019 s,
      deltaX: -2.599998 m,
      approachRate: -0.736957 m/s,
      rangeRepo size: 4

2025-06-27T19:44:46.866Z,1751053486.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.371582 m,
      bearing: 262.041421 deg,
      lat: 36.906844 deg,
      lon: -122.116480 deg,
      deltaT: 3.528019 s,
      deltaX: -2.576309 m,
      approachRate: -0.730242 m/s,
      posRepo size: 4

2025-06-27T19:44:46.866Z,1751053486.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:46.869Z,1751053486.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 77.906326 m,
      bearing: 262.317167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009012 deg/s,
      cmd heading: 260.498552 deg,
      new cmd heading: 260.510625 deg.

2025-06-27T19:44:46.870Z,1751053486.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546768 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:47.196Z,1751053487.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:47.199Z,1751053487.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 77.647224 m,
      bearing: 262.320344 deg,
      approach rate: -0.775893 m/s,
      LOS rate: 0.009544 deg/s,
      cmd heading: 260.510628 deg,
      new cmd heading: 260.520189 deg.

2025-06-27T19:44:47.200Z,1751053487.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546935 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:47.618Z,1751053487.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:47.620Z,1751053487.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:47.623Z,1751053487.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 77.322914 m,
      bearing: 262.324350 deg,
      approach rate: -0.764888 m/s,
      LOS rate: 0.009488 deg/s,
      cmd heading: 260.520190 deg,
      new cmd heading: 260.532259 deg.

2025-06-27T19:44:47.624Z,1751053487.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547146 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:47.794Z,1751053487.794 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:47.794Z,1751053487.794 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:47.795Z,1751053487.795 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:48.043Z,1751053488.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497421
2025-06-27T19:44:48.058Z,1751053488.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:48.061Z,1751053488.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 76.984360 m,
      bearing: 262.327877 deg,
      approach rate: -0.772825 m/s,
      LOS rate: 0.008086 deg/s,
      cmd heading: 260.532266 deg,
      new cmd heading: 260.542893 deg.

2025-06-27T19:44:48.062Z,1751053488.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547331 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:48.295Z,1751053488.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749463
2025-06-27T19:44:48.405Z,1751053488.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:48.408Z,1751053488.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 76.716995 m,
      bearing: 262.330703 deg,
      approach rate: -0.769961 m/s,
      LOS rate: 0.008166 deg/s,
      cmd heading: 260.542893 deg,
      new cmd heading: 260.551400 deg.

2025-06-27T19:44:48.409Z,1751053488.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547480 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:48.547Z,1751053488.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001392
2025-06-27T19:44:48.801Z,1751053488.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255144
2025-06-27T19:44:48.901Z,1751053488.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:48.904Z,1751053488.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 76.329178 m,
      bearing: 262.341562 deg,
      approach rate: -0.782336 m/s,
      LOS rate: 0.022017 deg/s,
      cmd heading: 260.551390 deg,
      new cmd heading: 260.584132 deg.

2025-06-27T19:44:48.905Z,1751053488.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548051 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:49.052Z,1751053489.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506362
2025-06-27T19:44:49.222Z,1751053489.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:49.225Z,1751053489.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 76.087616 m,
      bearing: 262.348381 deg,
      approach rate: -0.752518 m/s,
      LOS rate: 0.021313 deg/s,
      cmd heading: 260.584120 deg,
      new cmd heading: 260.604645 deg.

2025-06-27T19:44:49.226Z,1751053489.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548409 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:49.305Z,1751053489.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758318
2025-06-27T19:44:49.556Z,1751053489.556 [DAT](INFO): DAT read: Rx Time:19:44:47.8775

2025-06-27T19:44:49.556Z,1751053489.556 [DAT](INFO): Rx dataTimestamp_ set to:1751053489.555841
2025-06-27T19:44:49.557Z,1751053489.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010670
2025-06-27T19:44:49.644Z,1751053489.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:49.646Z,1751053489.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.37 m.
2025-06-27T19:44:49.649Z,1751053489.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.371582 m,
      nav range: 75.758583 m,
      bearing: 262.357771 deg,
      approach rate: -0.776191 m/s,
      LOS rate: 0.022246 deg/s,
      cmd heading: 260.604638 deg,
      new cmd heading: 260.632929 deg.

2025-06-27T19:44:49.651Z,1751053489.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548903 target range: 79.371582 and range: 80.10 m.
2025-06-27T19:44:49.810Z,1751053489.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263483
2025-06-27T19:44:50.065Z,1751053490.065 [DAT](INFO): DAT read: 19:44:47.8775 LVL= 24480, 32753, 24562, 32755, AGC= 68, IDX= 395,-0.39, 1.002,-0.305, 0.960, 0.540, PHS= 0.550,-0.798, 0.417, RAW= 144.9,  -2.7, CAL= 149.5, -11.7, ROT=   0.5,  11.7

2025-06-27T19:44:50.069Z,1751053490.069 [DAT](INFO): got valid direction response:
 19:44:47.8775 LVL= 24480, 32753, 24562, 32755, AGC= 68, IDX= 395,-0.39, 1.002,-0.305, 0.960, 0.540, PHS= 0.550,-0.798, 0.417, RAW= 144.9,  -2.7, CAL= 149.5, -11.7, ROT=   0.5,  11.7

2025-06-27T19:44:50.070Z,1751053490.070 [DAT](INFO): DAT read: Bearing   0.5,  11.7 (Local)

2025-06-27T19:44:50.070Z,1751053490.070 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  11.7 (Local)

2025-06-27T19:44:50.072Z,1751053490.072 [DAT](INFO): DAT read: Range 10 to 50 : 77.2 m  (Round-trip  103.0 ms) speed  0.7 m/s

2025-06-27T19:44:50.073Z,1751053490.073 [DAT](INFO): DAT read: user:2719>

2025-06-27T19:44:50.073Z,1751053490.073 [DAT](INFO): DAT read: Tx time:19:44:48.9704

2025-06-27T19:44:50.074Z,1751053490.074 [DAT](INFO): Ping request sent.
2025-06-27T19:44:50.074Z,1751053490.074 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:50.087Z,1751053490.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:50.088Z,1751053490.088 [DAT](INFO): direction in FSK: [0.979186,0.008545,-0.202787]
2025-06-27T19:44:50.088Z,1751053490.088 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:50.088Z,1751053490.088 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:50.135Z,1751053490.135 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:50.135Z,1751053490.135 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:50.211Z,1751053490.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.199997 m,
      deltaT: 3.527474 s,
      deltaX: -2.900002 m,
      approachRate: -0.822118 m/s,
      rangeRepo size: 4

2025-06-27T19:44:50.213Z,1751053490.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.497818 m,
      bearing: 261.983336 deg,
      lat: 36.906842 deg,
      lon: -122.116480 deg,
      deltaT: 3.527474 s,
      deltaX: -2.873764 m,
      approachRate: -0.814680 m/s,
      posRepo size: 4

2025-06-27T19:44:50.214Z,1751053490.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:50.225Z,1751053490.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 75.398376 m,
      bearing: 262.236767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022246 deg/s,
      cmd heading: 260.632943 deg,
      new cmd heading: 260.670325 deg.

2025-06-27T19:44:50.226Z,1751053490.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549555 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:50.313Z,1751053490.313 [DAT](INFO): DAT read: TxSync time:19:44:48.9696

2025-06-27T19:44:50.525Z,1751053490.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:50.528Z,1751053490.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 75.119652 m,
      bearing: 262.242278 deg,
      approach rate: -0.873953 m/s,
      LOS rate: 0.017344 deg/s,
      cmd heading: 260.670317 deg,
      new cmd heading: 260.686912 deg.

2025-06-27T19:44:50.529Z,1751053490.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549845 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:50.943Z,1751053490.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:50.945Z,1751053490.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 74.804581 m,
      bearing: 262.250639 deg,
      approach rate: -0.754958 m/s,
      LOS rate: 0.020120 deg/s,
      cmd heading: 260.686901 deg,
      new cmd heading: 260.712091 deg.

2025-06-27T19:44:50.947Z,1751053490.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550284 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:51.339Z,1751053491.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:51.342Z,1751053491.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 74.507446 m,
      bearing: 262.258505 deg,
      approach rate: -0.749868 m/s,
      LOS rate: 0.019929 deg/s,
      cmd heading: 260.712091 deg,
      new cmd heading: 260.735782 deg.

2025-06-27T19:44:51.343Z,1751053491.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550698 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:51.739Z,1751053491.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:51.741Z,1751053491.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:51.748Z,1751053491.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 74.217987 m,
      bearing: 262.266133 deg,
      approach rate: -0.718798 m/s,
      LOS rate: 0.019018 deg/s,
      cmd heading: 260.735778 deg,
      new cmd heading: 260.758754 deg.

2025-06-27T19:44:51.749Z,1751053491.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551099 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:51.826Z,1751053491.826 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:51.826Z,1751053491.826 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:51.827Z,1751053491.827 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:52.075Z,1751053492.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001442
2025-06-27T19:44:52.198Z,1751053492.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:52.201Z,1751053492.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 73.886299 m,
      bearing: 262.270098 deg,
      approach rate: -0.732586 m/s,
      LOS rate: 0.008795 deg/s,
      cmd heading: 260.758755 deg,
      new cmd heading: 260.770701 deg.

2025-06-27T19:44:52.202Z,1751053492.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551307 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:52.327Z,1751053492.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253463
2025-06-27T19:44:52.546Z,1751053492.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:52.549Z,1751053492.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 73.616905 m,
      bearing: 262.273307 deg,
      approach rate: -0.765280 m/s,
      LOS rate: 0.009149 deg/s,
      cmd heading: 260.770694 deg,
      new cmd heading: 260.780356 deg.

2025-06-27T19:44:52.550Z,1751053492.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551476 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:52.579Z,1751053492.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505582
2025-06-27T19:44:52.831Z,1751053492.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757494
2025-06-27T19:44:52.959Z,1751053492.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:52.962Z,1751053492.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 73.315208 m,
      bearing: 262.271656 deg,
      approach rate: -0.730642 m/s,
      LOS rate: -0.004015 deg/s,
      cmd heading: 260.780365 deg,
      new cmd heading: 260.775392 deg.

2025-06-27T19:44:52.963Z,1751053492.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551389 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:53.084Z,1751053493.084 [DAT](INFO): DAT read: Rx Time:19:44:51.4738

2025-06-27T19:44:53.084Z,1751053493.084 [DAT](INFO): Rx dataTimestamp_ set to:1751053493.083726
2025-06-27T19:44:53.085Z,1751053493.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010728
2025-06-27T19:44:53.335Z,1751053493.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261564
2025-06-27T19:44:53.342Z,1751053493.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:53.345Z,1751053493.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 73.036049 m,
      bearing: 262.269991 deg,
      approach rate: -0.729419 m/s,
      LOS rate: -0.004367 deg/s,
      cmd heading: 260.775393 deg,
      new cmd heading: 260.770379 deg.

2025-06-27T19:44:53.346Z,1751053493.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551301 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:53.591Z,1751053493.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516349
2025-06-27T19:44:53.749Z,1751053493.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:53.752Z,1751053493.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.50 m.
2025-06-27T19:44:53.755Z,1751053493.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.497818 m,
      nav range: 72.735245 m,
      bearing: 262.267979 deg,
      approach rate: -0.733196 m/s,
      LOS rate: -0.004924 deg/s,
      cmd heading: 260.770366 deg,
      new cmd heading: 260.764306 deg.

2025-06-27T19:44:53.756Z,1751053493.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551196 target range: 76.497818 and range: 77.20 m.
2025-06-27T19:44:53.885Z,1751053493.885 [DAT](INFO): DAT read: 19:44:51.4738 LVL= 25840, 32753, 22114, 32755, AGC= 71, IDX= 404,-0.38,-2.941, 1.844,-3.018, 2.801, PHS= 0.630,-0.909, 0.461, RAW= 144.3,  -2.5, CAL= 148.9, -11.6, ROT=   1.1,  11.6

2025-06-27T19:44:53.904Z,1751053493.904 [DAT](INFO): got valid direction response:
 19:44:51.4738 LVL= 25840, 32753, 22114, 32755, AGC= 71, IDX= 404,-0.38,-2.941, 1.844,-3.018, 2.801, PHS= 0.630,-0.909, 0.461, RAW= 144.3,  -2.5, CAL= 148.9, -11.6, ROT=   1.1,  11.6

2025-06-27T19:44:53.905Z,1751053493.905 [DAT](INFO): DAT read: Bearing   1.1,  11.6 (Local)

2025-06-27T19:44:53.905Z,1751053493.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  11.6 (Local)

2025-06-27T19:44:53.907Z,1751053493.907 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m  (Round-trip  99.2 ms) speed  0.8 m/s

2025-06-27T19:44:53.908Z,1751053493.908 [DAT](INFO): DAT read: user:2720>

2025-06-27T19:44:53.909Z,1751053493.909 [DAT](INFO): DAT read: Tx time:19:44:52.5705

2025-06-27T19:44:53.909Z,1751053493.909 [DAT](INFO): Ping request sent.
2025-06-27T19:44:53.909Z,1751053493.909 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:53.910Z,1751053493.910 [DAT](INFO): DAT read: TxSync time:19:44:52.5697

2025-06-27T19:44:53.915Z,1751053493.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:44:53.916Z,1751053493.916 [DAT](INFO): direction in FSK: [0.979395,0.018805,-0.201078]
2025-06-27T19:44:53.916Z,1751053493.916 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:53.916Z,1751053493.916 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:53.936Z,1751053493.936 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:53.936Z,1751053493.936 [DAT](INFO): publishing direction and range info
2025-06-27T19:44:54.206Z,1751053494.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.400002 m,
      deltaT: 3.782363 s,
      deltaX: -2.799995 m,
      approachRate: -0.740277 m/s,
      rangeRepo size: 4

2025-06-27T19:44:54.212Z,1751053494.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.723267 m,
      bearing: 262.727918 deg,
      lat: 36.906844 deg,
      lon: -122.116483 deg,
      deltaT: 3.782363 s,
      deltaX: -2.774551 m,
      approachRate: -0.733550 m/s,
      posRepo size: 4

2025-06-27T19:44:54.213Z,1751053494.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:54.219Z,1751053494.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 72.648926 m,
      bearing: 262.427779 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004924 deg/s,
      cmd heading: 260.764301 deg,
      new cmd heading: 260.757611 deg.

2025-06-27T19:44:54.220Z,1751053494.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551079 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:54.557Z,1751053494.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:54.560Z,1751053494.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 72.387711 m,
      bearing: 262.425890 deg,
      approach rate: -0.742266 m/s,
      LOS rate: -0.005386 deg/s,
      cmd heading: 260.757607 deg,
      new cmd heading: 260.751921 deg.

2025-06-27T19:44:54.561Z,1751053494.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550980 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:54.997Z,1751053494.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:55.001Z,1751053495.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 72.075493 m,
      bearing: 262.415942 deg,
      approach rate: -0.709774 m/s,
      LOS rate: -0.022712 deg/s,
      cmd heading: 260.751925 deg,
      new cmd heading: 260.721953 deg.

2025-06-27T19:44:55.003Z,1751053495.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550457 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:55.376Z,1751053495.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:55.379Z,1751053495.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 71.815483 m,
      bearing: 262.407146 deg,
      approach rate: -0.684930 m/s,
      LOS rate: -0.023255 deg/s,
      cmd heading: 260.721954 deg,
      new cmd heading: 260.695470 deg.

2025-06-27T19:44:55.380Z,1751053495.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549994 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:55.786Z,1751053495.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:55.788Z,1751053495.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:55.792Z,1751053495.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 71.506477 m,
      bearing: 262.396609 deg,
      approach rate: -0.750045 m/s,
      LOS rate: -0.025687 deg/s,
      cmd heading: 260.695480 deg,
      new cmd heading: 260.663732 deg.

2025-06-27T19:44:55.793Z,1751053495.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549440 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:55.856Z,1751053495.856 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:55.856Z,1751053495.856 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:55.857Z,1751053495.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:56.107Z,1751053496.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198138
2025-06-27T19:44:56.204Z,1751053496.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:56.215Z,1751053496.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 71.214333 m,
      bearing: 262.383758 deg,
      approach rate: -0.703411 m/s,
      LOS rate: -0.031070 deg/s,
      cmd heading: 260.663733 deg,
      new cmd heading: 260.625020 deg.

2025-06-27T19:44:56.216Z,1751053496.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548765 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:56.359Z,1751053496.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450110
2025-06-27T19:44:56.567Z,1751053496.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:44:56.572Z,1751053496.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:56.574Z,1751053496.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 70.956726 m,
      bearing: 262.372190 deg,
      approach rate: -0.699957 m/s,
      LOS rate: -0.031545 deg/s,
      cmd heading: 260.625020 deg,
      new cmd heading: 260.590191 deg.

2025-06-27T19:44:56.575Z,1751053496.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548157 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:56.612Z,1751053496.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703020
2025-06-27T19:44:56.863Z,1751053496.863 [DAT](INFO): DAT read: Rx Time:19:44:55.0705

2025-06-27T19:44:56.864Z,1751053496.864 [DAT](INFO): Rx dataTimestamp_ set to:1751053496.863555
2025-06-27T19:44:56.864Z,1751053496.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955191
2025-06-27T19:44:57.068Z,1751053497.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:57.075Z,1751053497.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 70.613449 m,
      bearing: 262.354355 deg,
      approach rate: -0.690964 m/s,
      LOS rate: -0.036074 deg/s,
      cmd heading: 260.590186 deg,
      new cmd heading: 260.536420 deg.

2025-06-27T19:44:57.079Z,1751053497.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547218 target range: 73.723267 and range: 74.40 m.
2025-06-27T19:44:57.117Z,1751053497.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207942
2025-06-27T19:44:57.373Z,1751053497.373 [DAT](INFO): DAT read: 10705 LVL= 20800, 32209, 19778, 32755, AGC= 67, IDX= 401, 0.44, 0.801,-0.676, 0.766, 0.263, PHS= 0.625,-0.892, 0.500, RAW= 145.7,  -3.2, CAL= 150.4, -12.2, ROT= 359.6,  12.2

2025-06-27T19:44:57.374Z,1751053497.374 [DAT](INFO): unknown deviceResponse_: 10705 LVL= 20800, 32209, 19778, 32755, AGC= 67, IDX= 401, 0.44, 0.801,-0.676, 0.766, 0.263, PHS= 0.625,-0.892, 0.500, RAW= 145.7,  -3.2, CAL= 150.4, -12.2, ROT= 359.6,  12.2

2025-06-27T19:44:57.375Z,1751053497.375 [DAT](INFO): DAT read: Bearing 359.6,  12.2 (Local)

2025-06-27T19:44:57.375Z,1751053497.375 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  12.2 (Local)

2025-06-27T19:44:57.377Z,1751053497.377 [DAT](INFO): DAT read: Range 10 to 50 : 71.8 m  (Round-trip  95.8 ms) speed  0.7 m/s

2025-06-27T19:44:57.378Z,1751053497.378 [DAT](INFO): DAT read: user:2721>

2025-06-27T19:44:57.378Z,1751053497.378 [DAT](INFO): DAT read: Tx time:19:44:56.1705

2025-06-27T19:44:57.379Z,1751053497.379 [DAT](INFO): Ping request sent.
2025-06-27T19:44:57.379Z,1751053497.379 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:44:57.379Z,1751053497.379 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:44:57.379Z,1751053497.379 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:57.380Z,1751053497.380 [DAT](INFO): publishing transmit ping time
2025-06-27T19:44:57.399Z,1751053497.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.800003 m,
      deltaT: 3.525808 s,
      deltaX: -2.599998 m,
      approachRate: -0.737419 m/s,
      rangeRepo size: 4

2025-06-27T19:44:57.401Z,1751053497.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:57.404Z,1751053497.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 70.379486 m,
      bearing: 262.342045 deg,
      approach rate: -0.717762 m/s,
      LOS rate: -0.037891 deg/s,
      cmd heading: 260.536418 deg,
      new cmd heading: 260.499365 deg.

2025-06-27T19:44:57.405Z,1751053497.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546572 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:57.571Z,1751053497.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:44:57.628Z,1751053497.628 [DAT](INFO): DAT read: TxSync time:19:44:56.1697

2025-06-27T19:44:57.789Z,1751053497.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:57.796Z,1751053497.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:57.803Z,1751053497.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 70.110214 m,
      bearing: 262.327920 deg,
      approach rate: -0.670326 m/s,
      LOS rate: -0.035299 deg/s,
      cmd heading: 260.499371 deg,
      new cmd heading: 260.456833 deg.

2025-06-27T19:44:57.804Z,1751053497.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545829 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:57.878Z,1751053497.878 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:44:57.878Z,1751053497.878 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:44:57.879Z,1751053497.879 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:44:58.127Z,1751053498.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748468
2025-06-27T19:44:58.224Z,1751053498.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:58.227Z,1751053498.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 69.791862 m,
      bearing: 262.314767 deg,
      approach rate: -0.744507 m/s,
      LOS rate: -0.030900 deg/s,
      cmd heading: 260.456833 deg,
      new cmd heading: 260.417194 deg.

2025-06-27T19:44:58.228Z,1751053498.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545137 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:58.379Z,1751053498.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000506
2025-06-27T19:44:58.605Z,1751053498.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:58.608Z,1751053498.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 69.519081 m,
      bearing: 262.303766 deg,
      approach rate: -0.716259 m/s,
      LOS rate: -0.028999 deg/s,
      cmd heading: 260.417191 deg,
      new cmd heading: 260.384059 deg.

2025-06-27T19:44:58.609Z,1751053498.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544559 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:58.644Z,1751053498.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265506
2025-06-27T19:44:58.896Z,1751053498.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516627
2025-06-27T19:44:59.064Z,1751053499.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:59.067Z,1751053499.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 69.188965 m,
      bearing: 262.292755 deg,
      approach rate: -0.718998 m/s,
      LOS rate: -0.024097 deg/s,
      cmd heading: 260.384051 deg,
      new cmd heading: 260.350860 deg.

2025-06-27T19:44:59.068Z,1751053499.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543980 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:59.149Z,1751053499.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769629
2025-06-27T19:44:59.399Z,1751053499.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020400
2025-06-27T19:44:59.427Z,1751053499.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:59.430Z,1751053499.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 68.926537 m,
      bearing: 262.283926 deg,
      approach rate: -0.722135 m/s,
      LOS rate: -0.024386 deg/s,
      cmd heading: 260.350856 deg,
      new cmd heading: 260.324270 deg.

2025-06-27T19:44:59.431Z,1751053499.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543516 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:59.652Z,1751053499.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272863
2025-06-27T19:44:59.804Z,1751053499.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:44:59.806Z,1751053499.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:44:59.809Z,1751053499.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 68.653351 m,
      bearing: 262.274447 deg,
      approach rate: -0.721340 m/s,
      LOS rate: -0.025131 deg/s,
      cmd heading: 260.324273 deg,
      new cmd heading: 260.295720 deg.

2025-06-27T19:44:59.810Z,1751053499.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543017 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:44:59.904Z,1751053499.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524451
2025-06-27T19:45:00.156Z,1751053500.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776659
2025-06-27T19:45:00.277Z,1751053500.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:45:00.280Z,1751053500.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 68.304283 m,
      bearing: 262.265053 deg,
      approach rate: -0.740306 m/s,
      LOS rate: -0.020024 deg/s,
      cmd heading: 260.295723 deg,
      new cmd heading: 260.267397 deg.

2025-06-27T19:45:00.281Z,1751053500.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542523 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:45:00.408Z,1751053500.408 [DAT](INFO): DAT read: Rx Time:19:44:58.6670

2025-06-27T19:45:00.408Z,1751053500.408 [DAT](INFO): Rx dataTimestamp_ set to:1751053500.407709
2025-06-27T19:45:00.409Z,1751053500.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029653
2025-06-27T19:45:00.640Z,1751053500.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.72 m.
2025-06-27T19:45:00.643Z,1751053500.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.723267 m,
      nav range: 68.036064 m,
      bearing: 262.257966 deg,
      approach rate: -0.740078 m/s,
      LOS rate: -0.019632 deg/s,
      cmd heading: 260.267391 deg,
      new cmd heading: 260.246046 deg.

2025-06-27T19:45:00.644Z,1751053500.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542150 target range: 73.723267 and range: 71.80 m.
2025-06-27T19:45:00.659Z,1751053500.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280503
2025-06-27T19:45:00.917Z,1751053500.917 [DAT](INFO): DAT read: 19:44:58.6670 LVL= 23952, 32433, 19090, 32755, AGC= 68, IDX= 399, 0.16, 0.200,-1.240, 0.144,-0.319, PHS= 0.608,-0.874, 0.460, RAW= 144.8,  -2.8, CAL= 149.5, -11.8, ROT=   0.5,  11.8

2025-06-27T19:45:00.919Z,1751053500.919 [DAT](INFO): got valid direction response:
 19:44:58.6670 LVL= 23952, 32433, 19090, 32755, AGC= 68, IDX= 399, 0.16, 0.200,-1.240, 0.144,-0.319, PHS= 0.608,-0.874, 0.460, RAW= 144.8,  -2.8, CAL= 149.5, -11.8, ROT=   0.5,  11.8

2025-06-27T19:45:00.920Z,1751053500.920 [DAT](INFO): DAT read: Bearing   0.5,  11.8 (Local)

2025-06-27T19:45:00.920Z,1751053500.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  11.8 (Local)

2025-06-27T19:45:00.922Z,1751053500.922 [DAT](INFO): DAT read: Range 10 to 50 : 69.3 m  (Round-trip  92.4 ms) speed  0.7 m/s

2025-06-27T19:45:00.948Z,1751053500.948 [DAT](INFO): DAT read: user:2722>

2025-06-27T19:45:00.949Z,1751053500.949 [DAT](INFO): DAT read: Tx time:19:44:59.7705

2025-06-27T19:45:00.949Z,1751053500.949 [DAT](INFO): Ping request sent.
2025-06-27T19:45:00.949Z,1751053500.949 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:00.949Z,1751053500.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:00.951Z,1751053500.951 [DAT](INFO): direction in FSK: [0.978830,0.008542,-0.204496]
2025-06-27T19:45:00.951Z,1751053500.951 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:00.951Z,1751053500.951 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:01.039Z,1751053501.039 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:01.039Z,1751053501.039 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:01.164Z,1751053501.164 [DAT](INFO): DAT read: TxSync time:19:44:59.7697

2025-06-27T19:45:01.184Z,1751053501.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.543876 s,
      deltaX: -2.500000 m,
      approachRate: -0.705442 m/s,
      rangeRepo size: 4

2025-06-27T19:45:01.186Z,1751053501.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.669411 m,
      bearing: 262.430981 deg,
      lat: 36.906845 deg,
      lon: -122.116484 deg,
      deltaT: 7.069684 s,
      deltaX: -5.053856 m,
      approachRate: -0.714863 m/s,
      posRepo size: 4

2025-06-27T19:45:01.191Z,1751053501.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:01.193Z,1751053501.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 67.709381 m,
      bearing: 262.431211 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019632 deg/s,
      cmd heading: 260.246053 deg,
      new cmd heading: 260.214063 deg.

2025-06-27T19:45:01.194Z,1751053501.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541592 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:01.510Z,1751053501.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:01.517Z,1751053501.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 67.457634 m,
      bearing: 262.425880 deg,
      approach rate: -0.770550 m/s,
      LOS rate: -0.016379 deg/s,
      cmd heading: 260.214061 deg,
      new cmd heading: 260.198007 deg.

2025-06-27T19:45:01.517Z,1751053501.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541312 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:01.893Z,1751053501.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:01.895Z,1751053501.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:01.898Z,1751053501.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 67.155334 m,
      bearing: 262.419823 deg,
      approach rate: -0.784173 m/s,
      LOS rate: -0.015782 deg/s,
      cmd heading: 260.197996 deg,
      new cmd heading: 260.179745 deg.

2025-06-27T19:45:01.899Z,1751053501.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540993 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:01.919Z,1751053501.919 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:01.919Z,1751053501.919 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:01.920Z,1751053501.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:02.171Z,1751053502.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222181
2025-06-27T19:45:02.333Z,1751053502.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:02.336Z,1751053502.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 66.826149 m,
      bearing: 262.423613 deg,
      approach rate: -0.751251 m/s,
      LOS rate: 0.008691 deg/s,
      cmd heading: 260.179746 deg,
      new cmd heading: 260.191170 deg.

2025-06-27T19:45:02.337Z,1751053502.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541193 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:02.424Z,1751053502.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474477
2025-06-27T19:45:02.675Z,1751053502.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726239
2025-06-27T19:45:02.711Z,1751053502.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:02.713Z,1751053502.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 66.543205 m,
      bearing: 262.427328 deg,
      approach rate: -0.750586 m/s,
      LOS rate: 0.009897 deg/s,
      cmd heading: 260.191166 deg,
      new cmd heading: 260.202358 deg.

2025-06-27T19:45:02.714Z,1751053502.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541388 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:02.927Z,1751053502.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978105
2025-06-27T19:45:03.150Z,1751053503.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:03.153Z,1751053503.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 66.209991 m,
      bearing: 262.432050 deg,
      approach rate: -0.758293 m/s,
      LOS rate: 0.010800 deg/s,
      cmd heading: 260.202368 deg,
      new cmd heading: 260.216605 deg.

2025-06-27T19:45:03.154Z,1751053503.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541636 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:03.179Z,1751053503.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230101
2025-06-27T19:45:03.431Z,1751053503.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482189
2025-06-27T19:45:03.541Z,1751053503.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:03.571Z,1751053503.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 65.917641 m,
      bearing: 262.436287 deg,
      approach rate: -0.759564 m/s,
      LOS rate: 0.011059 deg/s,
      cmd heading: 260.216602 deg,
      new cmd heading: 260.229371 deg.

2025-06-27T19:45:03.572Z,1751053503.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541859 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:03.684Z,1751053503.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735279
2025-06-27T19:45:03.905Z,1751053503.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:03.907Z,1751053503.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:03.910Z,1751053503.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 65.625191 m,
      bearing: 262.440584 deg,
      approach rate: -0.784723 m/s,
      LOS rate: 0.011581 deg/s,
      cmd heading: 260.229360 deg,
      new cmd heading: 260.242309 deg.

2025-06-27T19:45:03.927Z,1751053503.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542085 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:03.938Z,1751053503.938 [DAT](INFO): DAT read: Rx Time:19:45:02.2634

2025-06-27T19:45:03.938Z,1751053503.938 [DAT](INFO): Rx dataTimestamp_ set to:1751053503.937813
2025-06-27T19:45:03.939Z,1751053503.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989589
2025-06-27T19:45:04.187Z,1751053504.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238212
2025-06-27T19:45:04.336Z,1751053504.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.67 m.
2025-06-27T19:45:04.366Z,1751053504.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.669411 m,
      nav range: 65.305603 m,
      bearing: 262.446049 deg,
      approach rate: -0.744793 m/s,
      LOS rate: 0.012799 deg/s,
      cmd heading: 260.242310 deg,
      new cmd heading: 260.258786 deg.

2025-06-27T19:45:04.381Z,1751053504.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542373 target range: 68.669411 and range: 69.30 m.
2025-06-27T19:45:04.446Z,1751053504.446 [DAT](INFO): DAT read: 19:45:02.2634 LVL= 26896, 31937, 24370, 32755, AGC= 67, IDX= 408, 0.30, 2.671, 1.249, 2.630, 2.145, PHS= 0.614,-0.849, 0.482, RAW= 145.3,  -3.6, CAL= 150.1, -12.6, ROT= 359.9,  12.6

2025-06-27T19:45:04.448Z,1751053504.448 [DAT](INFO): got valid direction response:
 19:45:02.2634 LVL= 26896, 31937, 24370, 32755, AGC= 67, IDX= 408, 0.30, 2.671, 1.249, 2.630, 2.145, PHS= 0.614,-0.849, 0.482, RAW= 145.3,  -3.6, CAL= 150.1, -12.6, ROT= 359.9,  12.6

2025-06-27T19:45:04.449Z,1751053504.449 [DAT](INFO): DAT read: Bearing 359.9,  12.6 (Local)

2025-06-27T19:45:04.450Z,1751053504.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  12.6 (Local)

2025-06-27T19:45:04.453Z,1751053504.453 [DAT](INFO): DAT read: Range 10 to 50 : 66.5 m  (Round-trip  88.7 ms) speed  0.6 m/s

2025-06-27T19:45:04.454Z,1751053504.454 [DAT](INFO): DAT read: user:2723>

2025-06-27T19:45:04.462Z,1751053504.462 [DAT](INFO): DAT read: Tx time:19:45:03.3706

2025-06-27T19:45:04.463Z,1751053504.463 [DAT](INFO): Ping request sent.
2025-06-27T19:45:04.464Z,1751053504.464 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:04.464Z,1751053504.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:04.466Z,1751053504.466 [DAT](INFO): direction in FSK: [0.975915,-0.001703,-0.218143]
2025-06-27T19:45:04.486Z,1751053504.486 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:04.487Z,1751053504.487 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:04.507Z,1751053504.507 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:04.507Z,1751053504.507 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:04.691Z,1751053504.691 [DAT](INFO): DAT read: TxSync time:19:45:03.3698

2025-06-27T19:45:04.749Z,1751053504.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.500000 m,
      deltaT: 3.528105 s,
      deltaX: -2.800003 m,
      approachRate: -0.793628 m/s,
      rangeRepo size: 4

2025-06-27T19:45:04.751Z,1751053504.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.894722 m,
      bearing: 261.563015 deg,
      lat: 36.906839 deg,
      lon: -122.116484 deg,
      deltaT: 3.528105 s,
      deltaX: -2.774689 m,
      approachRate: -0.786453 m/s,
      posRepo size: 4

2025-06-27T19:45:04.752Z,1751053504.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:04.755Z,1751053504.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 65.092049 m,
      bearing: 261.856433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012799 deg/s,
      cmd heading: 260.258785 deg,
      new cmd heading: 260.274592 deg.

2025-06-27T19:45:04.756Z,1751053504.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542649 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:05.165Z,1751053505.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:05.171Z,1751053505.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 64.773705 m,
      bearing: 261.864361 deg,
      approach rate: -0.764499 m/s,
      LOS rate: 0.019133 deg/s,
      cmd heading: 260.274604 deg,
      new cmd heading: 260.298505 deg.

2025-06-27T19:45:05.172Z,1751053505.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543066 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:05.532Z,1751053505.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:05.535Z,1751053505.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 64.488564 m,
      bearing: 261.872226 deg,
      approach rate: -0.776534 m/s,
      LOS rate: 0.021512 deg/s,
      cmd heading: 260.298509 deg,
      new cmd heading: 260.322207 deg.

2025-06-27T19:45:05.536Z,1751053505.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543479 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:05.932Z,1751053505.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:05.951Z,1751053505.951 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:05.951Z,1751053505.951 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:05.951Z,1751053505.951 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:05.953Z,1751053505.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:05.969Z,1751053505.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 64.182961 m,
      bearing: 261.880963 deg,
      approach rate: -0.759356 m/s,
      LOS rate: 0.021814 deg/s,
      cmd heading: 260.322196 deg,
      new cmd heading: 260.348533 deg.

2025-06-27T19:45:05.976Z,1751053505.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543939 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:06.204Z,1751053506.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741482
2025-06-27T19:45:06.361Z,1751053506.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:06.364Z,1751053506.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 63.866253 m,
      bearing: 261.888394 deg,
      approach rate: -0.742133 m/s,
      LOS rate: 0.017500 deg/s,
      cmd heading: 260.348534 deg,
      new cmd heading: 260.370939 deg.

2025-06-27T19:45:06.365Z,1751053506.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544330 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:06.456Z,1751053506.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993718
2025-06-27T19:45:06.707Z,1751053506.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245141
2025-06-27T19:45:06.742Z,1751053506.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:06.745Z,1751053506.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 63.583603 m,
      bearing: 261.894873 deg,
      approach rate: -0.741731 m/s,
      LOS rate: 0.017078 deg/s,
      cmd heading: 260.370937 deg,
      new cmd heading: 260.390460 deg.

2025-06-27T19:45:06.746Z,1751053506.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544671 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:06.959Z,1751053506.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497184
2025-06-27T19:45:07.211Z,1751053507.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749237
2025-06-27T19:45:07.220Z,1751053507.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:07.223Z,1751053507.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 63.231400 m,
      bearing: 261.903321 deg,
      approach rate: -0.736450 m/s,
      LOS rate: 0.017761 deg/s,
      cmd heading: 260.390471 deg,
      new cmd heading: 260.415954 deg.

2025-06-27T19:45:07.224Z,1751053507.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545116 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:07.463Z,1751053507.463 [DAT](INFO): DAT read: Rx Time:19:45:05.8597

2025-06-27T19:45:07.464Z,1751053507.464 [DAT](INFO): Rx dataTimestamp_ set to:1751053507.463601
2025-06-27T19:45:07.464Z,1751053507.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002218
2025-06-27T19:45:07.550Z,1751053507.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:07.553Z,1751053507.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 62.986229 m,
      bearing: 261.909220 deg,
      approach rate: -0.743513 m/s,
      LOS rate: 0.017961 deg/s,
      cmd heading: 260.415961 deg,
      new cmd heading: 260.433729 deg.

2025-06-27T19:45:07.554Z,1751053507.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545426 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:07.718Z,1751053507.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256012
2025-06-27T19:45:07.970Z,1751053507.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507636
2025-06-27T19:45:08.004Z,1751053508.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:08.015Z,1751053508.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.89 m.
2025-06-27T19:45:08.024Z,1751053508.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.894722 m,
      nav range: 62.688572 m,
      bearing: 261.916321 deg,
      approach rate: -0.639885 m/s,
      LOS rate: 0.015338 deg/s,
      cmd heading: 260.433720 deg,
      new cmd heading: 260.455124 deg.

2025-06-27T19:45:08.031Z,1751053508.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545799 target range: 65.894722 and range: 66.50 m.
2025-06-27T19:45:08.230Z,1751053508.230 [DAT](INFO): DAT read: 19:45:05.8597 LVL= 21328, 29873, 19330, 32755, AGC= 66, IDX= 403,-0.27, 0.845,-0.611, 0.786, 0.348, PHS= 0.585,-0.912, 0.436, RAW= 144.8,  -1.5, CAL= 149.1, -10.6, ROT=   0.9,  10.6

2025-06-27T19:45:08.232Z,1751053508.232 [DAT](INFO): got valid direction response:
 19:45:05.8597 LVL= 21328, 29873, 19330, 32755, AGC= 66, IDX= 403,-0.27, 0.845,-0.611, 0.786, 0.348, PHS= 0.585,-0.912, 0.436, RAW= 144.8,  -1.5, CAL= 149.1, -10.6, ROT=   0.9,  10.6

2025-06-27T19:45:08.234Z,1751053508.234 [DAT](INFO): DAT read: Bearing   0.9,  10.6 (Local)

2025-06-27T19:45:08.235Z,1751053508.235 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,  10.6 (Local)

2025-06-27T19:45:08.237Z,1751053508.237 [DAT](INFO): DAT read: Range 10 to 50 : 63.7 m  (Round-trip  85.0 ms) speed  0.8 m/s

2025-06-27T19:45:08.239Z,1751053508.239 [DAT](INFO): DAT read: user:2724>

2025-06-27T19:45:08.240Z,1751053508.240 [DAT](INFO): DAT read: Tx time:19:45:06.9706

2025-06-27T19:45:08.240Z,1751053508.240 [DAT](INFO): Ping request sent.
2025-06-27T19:45:08.241Z,1751053508.241 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:08.242Z,1751053508.242 [DAT](INFO): DAT read: TxSync time:19:45:06.9698

2025-06-27T19:45:08.243Z,1751053508.243 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:08.244Z,1751053508.244 [DAT](INFO): direction in FSK: [0.982814,0.015439,-0.183951]
2025-06-27T19:45:08.244Z,1751053508.244 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:08.245Z,1751053508.245 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:08.250Z,1751053508.250 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:08.250Z,1751053508.250 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:08.459Z,1751053508.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.700001 m,
      deltaT: 3.780758 s,
      deltaX: -2.799999 m,
      approachRate: -0.740592 m/s,
      rangeRepo size: 4

2025-06-27T19:45:08.461Z,1751053508.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.120247 m,
      bearing: 262.410612 deg,
      lat: 36.906844 deg,
      lon: -122.116484 deg,
      deltaT: 3.780758 s,
      deltaX: -2.774475 m,
      approachRate: -0.733841 m/s,
      posRepo size: 4

2025-06-27T19:45:08.461Z,1751053508.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:08.468Z,1751053508.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 62.263931 m,
      bearing: 262.406370 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015338 deg/s,
      cmd heading: 260.455112 deg,
      new cmd heading: 260.475301 deg.

2025-06-27T19:45:08.469Z,1751053508.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546152 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:08.782Z,1751053508.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:08.785Z,1751053508.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 62.013912 m,
      bearing: 262.411773 deg,
      approach rate: -0.761327 m/s,
      LOS rate: 0.016518 deg/s,
      cmd heading: 260.475302 deg,
      new cmd heading: 260.491575 deg.

2025-06-27T19:45:08.786Z,1751053508.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546436 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:09.223Z,1751053509.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:09.226Z,1751053509.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 61.693367 m,
      bearing: 262.412768 deg,
      approach rate: -0.728058 m/s,
      LOS rate: 0.002273 deg/s,
      cmd heading: 260.491585 deg,
      new cmd heading: 260.494588 deg.

2025-06-27T19:45:09.228Z,1751053509.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546488 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:09.597Z,1751053509.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:09.599Z,1751053509.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 61.420975 m,
      bearing: 262.413453 deg,
      approach rate: -0.728121 m/s,
      LOS rate: 0.001839 deg/s,
      cmd heading: 260.494590 deg,
      new cmd heading: 260.496654 deg.

2025-06-27T19:45:09.600Z,1751053509.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546525 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:10.017Z,1751053510.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:10.021Z,1751053510.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:10.025Z,1751053510.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 61.116405 m,
      bearing: 262.413858 deg,
      approach rate: -0.718934 m/s,
      LOS rate: 0.000959 deg/s,
      cmd heading: 260.496667 deg,
      new cmd heading: 260.497886 deg.

2025-06-27T19:45:10.026Z,1751053510.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546546 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:10.235Z,1751053510.235 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:10.235Z,1751053510.235 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:10.235Z,1751053510.235 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:10.434Z,1751053510.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:10.437Z,1751053510.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 60.813251 m,
      bearing: 262.406121 deg,
      approach rate: -0.732498 m/s,
      LOS rate: -0.018787 deg/s,
      cmd heading: 260.497896 deg,
      new cmd heading: 260.474570 deg.

2025-06-27T19:45:10.438Z,1751053510.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546139 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:10.489Z,1751053510.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248031
2025-06-27T19:45:10.739Z,1751053510.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498782
2025-06-27T19:45:10.810Z,1751053510.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:10.812Z,1751053510.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 60.541630 m,
      bearing: 262.399075 deg,
      approach rate: -0.723601 m/s,
      LOS rate: -0.018856 deg/s,
      cmd heading: 260.474564 deg,
      new cmd heading: 260.453330 deg.

2025-06-27T19:45:10.813Z,1751053510.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545768 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:10.993Z,1751053510.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752594
2025-06-27T19:45:11.240Z,1751053511.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:11.244Z,1751053511.244 [DAT](INFO): DAT read: Rx Time:19:45:09.4562

2025-06-27T19:45:11.244Z,1751053511.244 [DAT](INFO): Rx dataTimestamp_ set to:1751053511.243716
2025-06-27T19:45:11.245Z,1751053511.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004059
2025-06-27T19:45:11.246Z,1751053511.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 60.225571 m,
      bearing: 262.387339 deg,
      approach rate: -0.734604 m/s,
      LOS rate: -0.027419 deg/s,
      cmd heading: 260.453336 deg,
      new cmd heading: 260.417945 deg.

2025-06-27T19:45:11.247Z,1751053511.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545151 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:11.495Z,1751053511.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254874
2025-06-27T19:45:11.640Z,1751053511.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.12 m.
2025-06-27T19:45:11.643Z,1751053511.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.120247 m,
      nav range: 59.931232 m,
      bearing: 262.376194 deg,
      approach rate: -0.734850 m/s,
      LOS rate: -0.027962 deg/s,
      cmd heading: 260.417956 deg,
      new cmd heading: 260.384355 deg.

2025-06-27T19:45:11.644Z,1751053511.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544564 target range: 63.120247 and range: 63.70 m.
2025-06-27T19:45:11.756Z,1751053511.756 [DAT](INFO): DAT read: 19:45:09.4562 LVL= 21872, 28641, 19954, 32755, AGC= 69, IDX= 398, 0.38,-0.151,-1.570,-0.182,-0.624, PHS= 0.561,-0.899, 0.439, RAW= 145.7,  -1.5, CAL= 149.8, -10.5, ROT=   0.2,  10.5

2025-06-27T19:45:11.757Z,1751053511.757 [DAT](INFO): got valid direction response:
 19:45:09.4562 LVL= 21872, 28641, 19954, 32755, AGC= 69, IDX= 398, 0.38,-0.151,-1.570,-0.182,-0.624, PHS= 0.561,-0.899, 0.439, RAW= 145.7,  -1.5, CAL= 149.8, -10.5, ROT=   0.2,  10.5

2025-06-27T19:45:11.758Z,1751053511.758 [DAT](INFO): DAT read: Bearing   0.2,  10.5 (Local)

2025-06-27T19:45:11.759Z,1751053511.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  10.5 (Local)

2025-06-27T19:45:11.760Z,1751053511.760 [DAT](INFO): DAT read: Range 10 to 50 : 61.1 m  (Round-trip  81.5 ms) speed  0.6 m/s

2025-06-27T19:45:11.761Z,1751053511.761 [DAT](INFO): DAT read: user:2725>

2025-06-27T19:45:11.762Z,1751053511.762 [DAT](INFO): DAT read: Tx time:19:45:10.5706

2025-06-27T19:45:11.762Z,1751053511.762 [DAT](INFO): Ping request sent.
2025-06-27T19:45:11.762Z,1751053511.762 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:11.763Z,1751053511.763 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:11.764Z,1751053511.764 [DAT](INFO): direction in FSK: [0.983249,0.003432,-0.182236]
2025-06-27T19:45:11.765Z,1751053511.765 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:11.765Z,1751053511.765 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:11.768Z,1751053511.768 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:11.768Z,1751053511.768 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:12.000Z,1751053512.000 [DAT](INFO): DAT read: TxSync time:19:45:10.5698

2025-06-27T19:45:12.036Z,1751053512.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.099998 m,
      deltaT: 3.527653 s,
      deltaX: -2.600002 m,
      approachRate: -0.737035 m/s,
      rangeRepo size: 4

2025-06-27T19:45:12.038Z,1751053512.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.543999 m,
      bearing: 261.856201 deg,
      lat: 36.906844 deg,
      lon: -122.116484 deg,
      deltaT: 3.527653 s,
      deltaX: -2.576248 m,
      approachRate: -0.730301 m/s,
      posRepo size: 4

2025-06-27T19:45:12.039Z,1751053512.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:12.042Z,1751053512.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 59.644924 m,
      bearing: 262.365311 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027962 deg/s,
      cmd heading: 260.384351 deg,
      new cmd heading: 260.351200 deg.

2025-06-27T19:45:12.064Z,1751053512.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543986 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:12.414Z,1751053512.414 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +58,  +12,A
2025-06-27T19:45:12.452Z,1751053512.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:12.454Z,1751053512.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:12.461Z,1751053512.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 59.339592 m,
      bearing: 262.354252 deg,
      approach rate: -0.729688 m/s,
      LOS rate: -0.026565 deg/s,
      cmd heading: 260.351211 deg,
      new cmd heading: 260.317863 deg.

2025-06-27T19:45:12.462Z,1751053512.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543404 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:12.505Z,1751053512.505 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:12.505Z,1751053512.505 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:12.505Z,1751053512.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:12.759Z,1751053512.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997354
2025-06-27T19:45:12.822Z,1751053512.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:12.825Z,1751053512.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 59.062981 m,
      bearing: 262.344306 deg,
      approach rate: -0.751772 m/s,
      LOS rate: -0.027158 deg/s,
      cmd heading: 260.317852 deg,
      new cmd heading: 260.287874 deg.

2025-06-27T19:45:12.826Z,1751053512.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542881 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:13.015Z,1751053513.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253052
2025-06-27T19:45:13.263Z,1751053513.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501471
2025-06-27T19:45:13.266Z,1751053513.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:13.284Z,1751053513.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 58.743641 m,
      bearing: 262.325331 deg,
      approach rate: -0.719866 m/s,
      LOS rate: -0.043007 deg/s,
      cmd heading: 260.287881 deg,
      new cmd heading: 260.230647 deg.

2025-06-27T19:45:13.285Z,1751053513.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541882 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:13.516Z,1751053513.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753968
2025-06-27T19:45:13.628Z,1751053513.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:13.631Z,1751053513.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 58.480335 m,
      bearing: 262.309424 deg,
      approach rate: -0.725720 m/s,
      LOS rate: -0.044039 deg/s,
      cmd heading: 260.230645 deg,
      new cmd heading: 260.182710 deg.

2025-06-27T19:45:13.632Z,1751053513.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541045 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:13.767Z,1751053513.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005327
2025-06-27T19:45:14.020Z,1751053514.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258046
2025-06-27T19:45:14.054Z,1751053514.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:14.057Z,1751053514.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 58.173061 m,
      bearing: 262.290556 deg,
      approach rate: -0.722567 m/s,
      LOS rate: -0.044603 deg/s,
      cmd heading: 260.182697 deg,
      new cmd heading: 260.125794 deg.

2025-06-27T19:45:14.058Z,1751053514.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540051 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:14.271Z,1751053514.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509353
2025-06-27T19:45:14.468Z,1751053514.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:14.470Z,1751053514.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:14.477Z,1751053514.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 57.884075 m,
      bearing: 262.275563 deg,
      approach rate: -0.694575 m/s,
      LOS rate: -0.036216 deg/s,
      cmd heading: 260.125787 deg,
      new cmd heading: 260.080584 deg.

2025-06-27T19:45:14.477Z,1751053514.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539262 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:14.524Z,1751053514.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762347
2025-06-27T19:45:14.775Z,1751053514.775 [DAT](INFO): DAT read: Rx Time:19:45:13.0529

2025-06-27T19:45:14.776Z,1751053514.776 [DAT](INFO): Rx dataTimestamp_ set to:1751053514.775672
2025-06-27T19:45:14.776Z,1751053514.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014510
2025-06-27T19:45:14.867Z,1751053514.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.54 m.
2025-06-27T19:45:14.870Z,1751053514.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.543999 m,
      nav range: 57.590347 m,
      bearing: 262.260185 deg,
      approach rate: -0.738670 m/s,
      LOS rate: -0.038870 deg/s,
      cmd heading: 260.080572 deg,
      new cmd heading: 260.034203 deg.

2025-06-27T19:45:14.875Z,1751053514.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538453 target range: 60.543999 and range: 61.10 m.
2025-06-27T19:45:15.027Z,1751053515.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265441
2025-06-27T19:45:15.285Z,1751053515.285 [DAT](INFO): DAT read: 19:45:13.0529 LVL= 21024, 32753, 20754, 32755, AGC= 66, IDX= 411, 0.46, 2.354, 0.907, 2.334, 1.895, PHS= 0.546,-0.941, 0.436, RAW= 146.2,  -0.6, CAL= 150.0,  -9.6, ROT= 360.0,   9.6

2025-06-27T19:45:15.287Z,1751053515.287 [DAT](INFO): got valid direction response:
 19:45:13.0529 LVL= 21024, 32753, 20754, 32755, AGC= 66, IDX= 411, 0.46, 2.354, 0.907, 2.334, 1.895, PHS= 0.546,-0.941, 0.436, RAW= 146.2,  -0.6, CAL= 150.0,  -9.6, ROT= 360.0,   9.6

2025-06-27T19:45:15.288Z,1751053515.288 [DAT](INFO): DAT read: Bearing 360.0,   9.6 (Local)

2025-06-27T19:45:15.288Z,1751053515.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,   9.6 (Local)

2025-06-27T19:45:15.289Z,1751053515.289 [DAT](INFO): DAT read: Range 10 to 50 : 58.5 m  (Round-trip  78.1 ms) speed  0.8 m/s

2025-06-27T19:45:15.290Z,1751053515.290 [DAT](INFO): DAT read: user:2726>

2025-06-27T19:45:15.291Z,1751053515.291 [DAT](INFO): DAT read: Tx time:19:45:14.1707

2025-06-27T19:45:15.291Z,1751053515.291 [DAT](INFO): Ping request sent.
2025-06-27T19:45:15.291Z,1751053515.291 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:15.292Z,1751053515.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:15.293Z,1751053515.293 [DAT](INFO): direction in FSK: [0.985996,0.000000,-0.166769]
2025-06-27T19:45:15.293Z,1751053515.293 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:15.293Z,1751053515.293 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:15.305Z,1751053515.305 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:15.305Z,1751053515.305 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:15.335Z,1751053515.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 3.531589 s,
      deltaX: -2.599998 m,
      approachRate: -0.736212 m/s,
      rangeRepo size: 4

2025-06-27T19:45:15.337Z,1751053515.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.967712 m,
      bearing: 261.356890 deg,
      lat: 36.906839 deg,
      lon: -122.116484 deg,
      deltaT: 3.531589 s,
      deltaX: -2.576286 m,
      approachRate: -0.729498 m/s,
      posRepo size: 4

2025-06-27T19:45:15.338Z,1751053515.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:15.347Z,1751053515.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:15.349Z,1751053515.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 57.314072 m,
      bearing: 261.724021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038870 deg/s,
      cmd heading: 260.034208 deg,
      new cmd heading: 259.980243 deg.

2025-06-27T19:45:15.358Z,1751053515.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537511 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:15.409Z,1751053515.409 [DockingStepper](INFO): Changing to mode: 2
2025-06-27T19:45:15.409Z,1751053515.409 [DockingStepper](INFO): Armed mode.
2025-06-27T19:45:15.470Z,1751053515.470 [DockingStepper](INFO): Commanding negative:54556
2025-06-27T19:45:15.532Z,1751053515.532 [DAT](INFO): DAT read: TxSync time:19:45:14.1699

2025-06-27T19:45:15.732Z,1751053515.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:15.733Z,1751053515.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:15.740Z,1751053515.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 57.014111 m,
      bearing: 261.715453 deg,
      approach rate: -0.746109 m/s,
      LOS rate: -0.021424 deg/s,
      cmd heading: 259.980250 deg,
      new cmd heading: 259.954411 deg.

2025-06-27T19:45:15.741Z,1751053515.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537060 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:16.101Z,1751053516.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:16.102Z,1751053516.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:16.105Z,1751053516.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 56.745697 m,
      bearing: 261.708306 deg,
      approach rate: -0.727412 m/s,
      LOS rate: -0.019461 deg/s,
      cmd heading: 259.954404 deg,
      new cmd heading: 259.932861 deg.

2025-06-27T19:45:16.107Z,1751053516.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536684 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:16.522Z,1751053516.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:16.524Z,1751053516.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:16.524Z,1751053516.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:16.528Z,1751053516.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 56.434696 m,
      bearing: 261.702761 deg,
      approach rate: -0.735444 m/s,
      LOS rate: -0.013184 deg/s,
      cmd heading: 259.932848 deg,
      new cmd heading: 259.916122 deg.

2025-06-27T19:45:16.528Z,1751053516.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536392 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:16.539Z,1751053516.539 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:16.539Z,1751053516.539 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:16.540Z,1751053516.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:16.792Z,1751053516.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500697
2025-06-27T19:45:16.904Z,1751053516.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:16.904Z,1751053516.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:16.923Z,1751053516.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 56.157448 m,
      bearing: 261.697561 deg,
      approach rate: -0.730406 m/s,
      LOS rate: -0.013767 deg/s,
      cmd heading: 259.916128 deg,
      new cmd heading: 259.900451 deg.

2025-06-27T19:45:16.924Z,1751053516.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536119 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:17.043Z,1751053517.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751961
2025-06-27T19:45:17.295Z,1751053517.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003832
2025-06-27T19:45:17.343Z,1751053517.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:17.343Z,1751053517.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:17.346Z,1751053517.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 55.835163 m,
      bearing: 261.698921 deg,
      approach rate: -0.733708 m/s,
      LOS rate: 0.003115 deg/s,
      cmd heading: 259.900446 deg,
      new cmd heading: 259.904551 deg.

2025-06-27T19:45:17.347Z,1751053517.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536190 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:17.548Z,1751053517.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256232
2025-06-27T19:45:17.736Z,1751053517.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:17.736Z,1751053517.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:17.743Z,1751053517.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 55.564213 m,
      bearing: 261.699800 deg,
      approach rate: -0.689783 m/s,
      LOS rate: 0.002247 deg/s,
      cmd heading: 259.904544 deg,
      new cmd heading: 259.907191 deg.

2025-06-27T19:45:17.744Z,1751053517.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536236 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:17.799Z,1751053517.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508035
2025-06-27T19:45:18.051Z,1751053518.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759882
2025-06-27T19:45:18.123Z,1751053518.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:18.124Z,1751053518.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:18.145Z,1751053518.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 55.262238 m,
      bearing: 261.700500 deg,
      approach rate: -0.778871 m/s,
      LOS rate: 0.001817 deg/s,
      cmd heading: 259.907194 deg,
      new cmd heading: 259.909308 deg.

2025-06-27T19:45:18.148Z,1751053518.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536273 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:18.304Z,1751053518.304 [DAT](INFO): DAT read: Rx Time:19:45:16.6495

2025-06-27T19:45:18.304Z,1751053518.304 [DAT](INFO): Rx dataTimestamp_ set to:1751053518.303822
2025-06-27T19:45:18.305Z,1751053518.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013234
2025-06-27T19:45:18.555Z,1751053518.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264041
2025-06-27T19:45:18.557Z,1751053518.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:18.564Z,1751053518.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.97 m.
2025-06-27T19:45:18.564Z,1751053518.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-06-27T19:45:18.571Z,1751053518.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.967712 m,
      nav range: 54.958679 m,
      bearing: 261.707597 deg,
      approach rate: -0.689373 m/s,
      LOS rate: 0.016205 deg/s,
      cmd heading: 259.909298 deg,
      new cmd heading: 259.930705 deg.

2025-06-27T19:45:18.572Z,1751053518.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536647 target range: 57.967712 and range: 58.50 m.
2025-06-27T19:45:18.816Z,1751053518.816 [DAT](INFO): DAT read: 19:45:16.6495 LVL= 14128, 20465, 14242, 20979, AGC= 63, IDX= 408, 0.45, 0.360,-1.034, 0.286,-0.127, PHS= 0.575,-0.861, 0.409, RAW= 144.0,  -1.8, CAL= 148.4, -10.9, ROT=   1.6,  10.9

2025-06-27T19:45:18.817Z,1751053518.817 [DAT](INFO): got valid direction response:
 19:45:16.6495 LVL= 14128, 20465, 14242, 20979, AGC= 63, IDX= 408, 0.45, 0.360,-1.034, 0.286,-0.127, PHS= 0.575,-0.861, 0.409, RAW= 144.0,  -1.8, CAL= 148.4, -10.9, ROT=   1.6,  10.9

2025-06-27T19:45:18.818Z,1751053518.818 [DAT](INFO): DAT read: Bearing   1.6,  10.9 (Local)

2025-06-27T19:45:18.818Z,1751053518.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  10.9 (Local)

2025-06-27T19:45:18.820Z,1751053518.820 [DAT](INFO): DAT read: Range 10 to 50 : 56.0 m  (Round-trip  74.7 ms) speed  0.6 m/s

2025-06-27T19:45:18.821Z,1751053518.821 [DAT](INFO): DAT read: user:2727>

2025-06-27T19:45:18.821Z,1751053518.821 [DAT](INFO): DAT read: Tx time:19:45:17.7707

2025-06-27T19:45:18.822Z,1751053518.822 [DAT](INFO): Ping request sent.
2025-06-27T19:45:18.822Z,1751053518.822 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:18.822Z,1751053518.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:18.850Z,1751053518.850 [DAT](INFO): direction in FSK: [0.981576,0.027418,-0.189095]
2025-06-27T19:45:18.850Z,1751053518.850 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:18.850Z,1751053518.850 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:18.853Z,1751053518.853 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:18.853Z,1751053518.853 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:18.987Z,1751053518.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.000000 m,
      deltaT: 3.528150 s,
      deltaX: -2.500000 m,
      approachRate: -0.708587 m/s,
      rangeRepo size: 4

2025-06-27T19:45:18.990Z,1751053518.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.490425 m,
      bearing: 263.191260 deg,
      lat: 36.906839 deg,
      lon: -122.116484 deg,
      deltaT: 3.528150 s,
      deltaX: -2.477287 m,
      approachRate: -0.702149 m/s,
      posRepo size: 4

2025-06-27T19:45:18.996Z,1751053518.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:19.006Z,1751053519.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:19.015Z,1751053519.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 54.644661 m,
      bearing: 261.715005 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016205 deg/s,
      cmd heading: 259.930717 deg,
      new cmd heading: 259.951051 deg.

2025-06-27T19:45:19.017Z,1751053519.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537002 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:19.060Z,1751053519.060 [DAT](INFO): DAT read: TxSync time:19:45:17.7699

2025-06-27T19:45:19.374Z,1751053519.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:19.375Z,1751053519.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:19.377Z,1751053519.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 54.355206 m,
      bearing: 261.718188 deg,
      approach rate: -0.738744 m/s,
      LOS rate: 0.008166 deg/s,
      cmd heading: 259.951044 deg,
      new cmd heading: 259.960643 deg.

2025-06-27T19:45:19.378Z,1751053519.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537169 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:19.752Z,1751053519.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:19.752Z,1751053519.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:19.755Z,1751053519.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 54.058292 m,
      bearing: 261.721488 deg,
      approach rate: -0.785418 m/s,
      LOS rate: 0.008778 deg/s,
      cmd heading: 259.960633 deg,
      new cmd heading: 259.970589 deg.

2025-06-27T19:45:19.756Z,1751053519.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537343 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:20.146Z,1751053520.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:20.147Z,1751053520.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:20.149Z,1751053520.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 53.764301 m,
      bearing: 261.725638 deg,
      approach rate: -0.745966 m/s,
      LOS rate: 0.010587 deg/s,
      cmd heading: 259.970578 deg,
      new cmd heading: 259.983096 deg.

2025-06-27T19:45:20.151Z,1751053520.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537561 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:20.574Z,1751053520.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:20.576Z,1751053520.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:20.577Z,1751053520.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:20.580Z,1751053520.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 53.446400 m,
      bearing: 261.730252 deg,
      approach rate: -0.738576 m/s,
      LOS rate: 0.010783 deg/s,
      cmd heading: 259.983091 deg,
      new cmd heading: 259.997015 deg.

2025-06-27T19:45:20.581Z,1751053520.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537804 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:20.823Z,1751053520.823 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:20.823Z,1751053520.823 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:20.824Z,1751053520.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:20.950Z,1751053520.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:20.951Z,1751053520.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:20.953Z,1751053520.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 53.167744 m,
      bearing: 261.734107 deg,
      approach rate: -0.745741 m/s,
      LOS rate: 0.010370 deg/s,
      cmd heading: 259.997025 deg,
      new cmd heading: 260.008649 deg.

2025-06-27T19:45:20.955Z,1751053520.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538007 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:21.081Z,1751053521.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258797
2025-06-27T19:45:21.331Z,1751053521.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509546
2025-06-27T19:45:21.392Z,1751053521.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:21.393Z,1751053521.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.00 m.
2025-06-27T19:45:21.393Z,1751053521.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.00 m.
2025-06-27T19:45:21.393Z,1751053521.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-06-27T19:45:21.396Z,1751053521.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 52.848850 m,
      bearing: 261.733272 deg,
      approach rate: -0.720888 m/s,
      LOS rate: -0.001898 deg/s,
      cmd heading: 260.008636 deg,
      new cmd heading: 260.006117 deg.

2025-06-27T19:45:21.397Z,1751053521.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537963 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:21.583Z,1751053521.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761580
2025-06-27T19:45:21.762Z,1751053521.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:21.787Z,1751053521.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 52.590366 m,
      bearing: 261.732441 deg,
      approach rate: -0.700713 m/s,
      LOS rate: -0.002263 deg/s,
      cmd heading: 260.006123 deg,
      new cmd heading: 260.003618 deg.

2025-06-27T19:45:21.788Z,1751053521.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537919 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:21.836Z,1751053521.836 [DAT](INFO): DAT read: Rx Time:19:45:20.2457

2025-06-27T19:45:21.836Z,1751053521.836 [DAT](INFO): Rx dataTimestamp_ set to:1751053521.835809
2025-06-27T19:45:21.837Z,1751053521.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014871
2025-06-27T19:45:22.087Z,1751053522.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265546
2025-06-27T19:45:22.188Z,1751053522.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.49 m.
2025-06-27T19:45:22.195Z,1751053522.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.490425 m,
      nav range: 52.298050 m,
      bearing: 261.731327 deg,
      approach rate: -0.685614 m/s,
      LOS rate: -0.002629 deg/s,
      cmd heading: 260.003609 deg,
      new cmd heading: 260.000246 deg.

2025-06-27T19:45:22.195Z,1751053522.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537860 target range: 55.490425 and range: 56.00 m.
2025-06-27T19:45:22.343Z,1751053522.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520866
2025-06-27T19:45:22.601Z,1751053522.601 [DAT](INFO): DAT read: 19:45:20.2457 LVL= 18416, 30385, 21730, 30355, AGC= 66, IDX= 402,-0.32, 2.425, 1.040, 2.416, 1.990, PHS= 0.523,-0.903, 0.423, RAW= 146.4,  -0.6, CAL= 150.2,  -9.7, ROT= 359.8,   9.7

2025-06-27T19:45:22.603Z,1751053522.603 [DAT](INFO): got valid direction response:
 19:45:20.2457 LVL= 18416, 30385, 21730, 30355, AGC= 66, IDX= 402,-0.32, 2.425, 1.040, 2.416, 1.990, PHS= 0.523,-0.903, 0.423, RAW= 146.4,  -0.6, CAL= 150.2,  -9.7, ROT= 359.8,   9.7

2025-06-27T19:45:22.604Z,1751053522.604 [DAT](INFO): DAT read: Bearing 359.8,   9.7 (Local)

2025-06-27T19:45:22.604Z,1751053522.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,   9.7 (Local)

2025-06-27T19:45:22.606Z,1751053522.606 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m  (Round-trip  70.8 ms) speed  0.8 m/s

2025-06-27T19:45:22.631Z,1751053522.631 [DAT](INFO): DAT read: user:2728>

2025-06-27T19:45:22.632Z,1751053522.632 [DAT](INFO): DAT read: Tx time:19:45:21.3707

2025-06-27T19:45:22.632Z,1751053522.632 [DAT](INFO): Ping request sent.
2025-06-27T19:45:22.632Z,1751053522.632 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:22.633Z,1751053522.633 [DAT](INFO): DAT read: TxSync time:19:45:21.3699

2025-06-27T19:45:22.633Z,1751053522.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:22.634Z,1751053522.634 [DAT](INFO): direction in FSK: [0.985697,-0.003441,-0.168489]
2025-06-27T19:45:22.642Z,1751053522.642 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:22.643Z,1751053522.643 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:22.646Z,1751053522.646 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:22.646Z,1751053522.646 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:22.781Z,1751053522.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.099998 m,
      deltaT: 3.783763 s,
      deltaX: -2.900002 m,
      approachRate: -0.766433 m/s,
      rangeRepo size: 4

2025-06-27T19:45:22.788Z,1751053522.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.616924 m,
      bearing: 261.445772 deg,
      lat: 36.906839 deg,
      lon: -122.116484 deg,
      deltaT: 3.783763 s,
      deltaX: -2.873501 m,
      approachRate: -0.759429 m/s,
      posRepo size: 4

2025-06-27T19:45:22.788Z,1751053522.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:22.796Z,1751053522.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 51.903423 m,
      bearing: 261.731968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002629 deg/s,
      cmd heading: 260.000249 deg,
      new cmd heading: 259.995570 deg.

2025-06-27T19:45:22.797Z,1751053522.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537779 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:23.131Z,1751053523.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:23.133Z,1751053523.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:23.140Z,1751053523.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 51.631649 m,
      bearing: 261.727333 deg,
      approach rate: -0.771124 m/s,
      LOS rate: -0.013221 deg/s,
      cmd heading: 259.995577 deg,
      new cmd heading: 259.981598 deg.

2025-06-27T19:45:23.141Z,1751053523.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537535 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:23.352Z,1751053523.352 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:23.353Z,1751053523.353 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:23.353Z,1751053523.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:23.532Z,1751053523.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:23.551Z,1751053523.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 51.339710 m,
      bearing: 261.719555 deg,
      approach rate: -0.732594 m/s,
      LOS rate: -0.019629 deg/s,
      cmd heading: 259.981588 deg,
      new cmd heading: 259.958122 deg.

2025-06-27T19:45:23.552Z,1751053523.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537125 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:23.603Z,1751053523.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971528
2025-06-27T19:45:23.855Z,1751053523.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223431
2025-06-27T19:45:23.922Z,1751053523.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:23.945Z,1751053523.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 51.057941 m,
      bearing: 261.711422 deg,
      approach rate: -0.721777 m/s,
      LOS rate: -0.020950 deg/s,
      cmd heading: 259.958120 deg,
      new cmd heading: 259.933585 deg.

2025-06-27T19:45:23.946Z,1751053523.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536697 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:24.107Z,1751053524.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475376
2025-06-27T19:45:24.360Z,1751053524.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727750
2025-06-27T19:45:24.381Z,1751053524.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:24.388Z,1751053524.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 50.735470 m,
      bearing: 261.701232 deg,
      approach rate: -0.703144 m/s,
      LOS rate: -0.022361 deg/s,
      cmd heading: 259.933586 deg,
      new cmd heading: 259.902821 deg.

2025-06-27T19:45:24.389Z,1751053524.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536160 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:24.612Z,1751053524.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979923
2025-06-27T19:45:24.740Z,1751053524.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:24.747Z,1751053524.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 50.487137 m,
      bearing: 261.681719 deg,
      approach rate: -0.690564 m/s,
      LOS rate: -0.054527 deg/s,
      cmd heading: 259.902823 deg,
      new cmd heading: 259.843998 deg.

2025-06-27T19:45:24.748Z,1751053524.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535133 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:24.863Z,1751053524.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231385
2025-06-27T19:45:25.116Z,1751053525.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483632
2025-06-27T19:45:25.116Z,1751053525.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:25.119Z,1751053525.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 50.212929 m,
      bearing: 261.659314 deg,
      approach rate: -0.732427 m/s,
      LOS rate: -0.060174 deg/s,
      cmd heading: 259.844001 deg,
      new cmd heading: 259.776417 deg.

2025-06-27T19:45:25.120Z,1751053525.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533954 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:25.371Z,1751053525.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738648
2025-06-27T19:45:25.538Z,1751053525.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:25.540Z,1751053525.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:25.543Z,1751053525.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 49.915768 m,
      bearing: 261.634916 deg,
      approach rate: -0.698104 m/s,
      LOS rate: -0.057656 deg/s,
      cmd heading: 259.776410 deg,
      new cmd heading: 259.702782 deg.

2025-06-27T19:45:25.544Z,1751053525.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532669 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:25.620Z,1751053525.620 [DAT](INFO): DAT read: Rx Time:19:45:23.8421

2025-06-27T19:45:25.621Z,1751053525.621 [DAT](INFO): Rx dataTimestamp_ set to:1751053525.620387
2025-06-27T19:45:25.622Z,1751053525.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989632
2025-06-27T19:45:25.872Z,1751053525.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239775
2025-06-27T19:45:25.940Z,1751053525.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.62 m.
2025-06-27T19:45:25.965Z,1751053525.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.616924 m,
      nav range: 49.646881 m,
      bearing: 261.611917 deg,
      approach rate: -0.675810 m/s,
      LOS rate: -0.058118 deg/s,
      cmd heading: 259.702780 deg,
      new cmd heading: 259.633410 deg.

2025-06-27T19:45:25.979Z,1751053525.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531458 target range: 52.616924 and range: 53.10 m.
2025-06-27T19:45:26.129Z,1751053526.129 [DAT](INFO): DAT read: 19:45:23.8421 LVL= 19376, 32753, 20162, 31731, AGC= 66, IDX= 398,-0.04, 3.115, 1.775,-3.120, 2.699, PHS= 0.503,-0.877, 0.460, RAW= 148.4,  -1.3, CAL= 152.2, -10.2, ROT= 357.8,  10.2

2025-06-27T19:45:26.130Z,1751053526.130 [DAT](INFO): got valid direction response:
 19:45:23.8421 LVL= 19376, 32753, 20162, 31731, AGC= 66, IDX= 398,-0.04, 3.115, 1.775,-3.120, 2.699, PHS= 0.503,-0.877, 0.460, RAW= 148.4,  -1.3, CAL= 152.2, -10.2, ROT= 357.8,  10.2

2025-06-27T19:45:26.131Z,1751053526.131 [DAT](INFO): DAT read: Bearing 357.8,  10.2 (Local)

2025-06-27T19:45:26.132Z,1751053526.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  10.2 (Local)

2025-06-27T19:45:26.133Z,1751053526.133 [DAT](INFO): DAT read: Range 10 to 50 : 50.4 m  (Round-trip  67.3 ms) speed  0.5 m/s

2025-06-27T19:45:26.134Z,1751053526.134 [DAT](INFO): DAT read: user:2729>

2025-06-27T19:45:26.139Z,1751053526.139 [DAT](INFO): DAT read: Tx time:19:45:24.9207

2025-06-27T19:45:26.139Z,1751053526.139 [DAT](INFO): Ping request sent.
2025-06-27T19:45:26.139Z,1751053526.139 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:26.140Z,1751053526.140 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:26.141Z,1751053526.141 [DAT](INFO): direction in FSK: [0.983470,-0.037781,-0.177085]
2025-06-27T19:45:26.141Z,1751053526.141 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:26.141Z,1751053526.141 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:26.145Z,1751053526.145 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:26.145Z,1751053526.145 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:26.378Z,1751053526.378 [DAT](INFO): DAT read: TxSync time:19:45:24.9199

2025-06-27T19:45:26.417Z,1751053526.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.400002 m,
      deltaT: 3.531956 s,
      deltaX: -2.699997 m,
      approachRate: -0.764448 m/s,
      rangeRepo size: 4

2025-06-27T19:45:26.423Z,1751053526.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.941502 m,
      bearing: 260.260226 deg,
      lat: 36.906837 deg,
      lon: -122.116484 deg,
      deltaT: 3.531956 s,
      deltaX: -2.675423 m,
      approachRate: -0.757490 m/s,
      posRepo size: 4

2025-06-27T19:45:26.424Z,1751053526.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:26.432Z,1751053526.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 49.302311 m,
      bearing: 261.272486 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058118 deg/s,
      cmd heading: 259.633413 deg,
      new cmd heading: 259.550071 deg.

2025-06-27T19:45:26.439Z,1751053526.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530003 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:26.769Z,1751053526.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:26.776Z,1751053526.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 49.063538 m,
      bearing: 261.247242 deg,
      approach rate: -0.676928 m/s,
      LOS rate: -0.071916 deg/s,
      cmd heading: 259.550057 deg,
      new cmd heading: 259.473956 deg.

2025-06-27T19:45:26.777Z,1751053526.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528675 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:27.151Z,1751053527.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:27.153Z,1751053527.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 48.803810 m,
      bearing: 261.219489 deg,
      approach rate: -0.726500 m/s,
      LOS rate: -0.078042 deg/s,
      cmd heading: 259.473969 deg,
      new cmd heading: 259.390268 deg.

2025-06-27T19:45:27.155Z,1751053527.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527214 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:27.555Z,1751053527.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:27.557Z,1751053527.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:27.560Z,1751053527.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 48.507946 m,
      bearing: 261.186367 deg,
      approach rate: -0.687278 m/s,
      LOS rate: -0.077411 deg/s,
      cmd heading: 259.390258 deg,
      new cmd heading: 259.290284 deg.

2025-06-27T19:45:27.561Z,1751053527.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525469 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:27.640Z,1751053527.640 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:27.640Z,1751053527.640 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:27.641Z,1751053527.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:27.695Z,1751053527.695 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:45:27.891Z,1751053527.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752058
2025-06-27T19:45:27.963Z,1751053527.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:27.965Z,1751053527.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 48.242249 m,
      bearing: 261.155966 deg,
      approach rate: -0.661663 m/s,
      LOS rate: -0.076123 deg/s,
      cmd heading: 259.290291 deg,
      new cmd heading: 259.198587 deg.

2025-06-27T19:45:27.971Z,1751053527.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523869 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:28.143Z,1751053528.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003976
2025-06-27T19:45:28.398Z,1751053528.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258146
2025-06-27T19:45:28.400Z,1751053528.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:28.416Z,1751053528.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 47.965935 m,
      bearing: 261.123364 deg,
      approach rate: -0.640499 m/s,
      LOS rate: -0.076007 deg/s,
      cmd heading: 259.198576 deg,
      new cmd heading: 259.100207 deg.

2025-06-27T19:45:28.417Z,1751053528.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522151 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:28.647Z,1751053528.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508020
2025-06-27T19:45:28.699Z,1751053528.699 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:45:28.780Z,1751053528.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:28.783Z,1751053528.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 47.663887 m,
      bearing: 261.089803 deg,
      approach rate: -0.773805 m/s,
      LOS rate: -0.086523 deg/s,
      cmd heading: 259.100194 deg,
      new cmd heading: 258.998873 deg.

2025-06-27T19:45:28.784Z,1751053528.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520383 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:28.899Z,1751053528.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760112
2025-06-27T19:45:29.152Z,1751053529.152 [DAT](INFO): DAT read: Rx Time:19:45:27.3891

2025-06-27T19:45:29.152Z,1751053529.152 [DAT](INFO): Rx dataTimestamp_ set to:1751053529.151740
2025-06-27T19:45:29.153Z,1751053529.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013278
2025-06-27T19:45:29.168Z,1751053529.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:29.174Z,1751053529.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 47.410427 m,
      bearing: 261.060653 deg,
      approach rate: -0.654311 m/s,
      LOS rate: -0.075654 deg/s,
      cmd heading: 258.998861 deg,
      new cmd heading: 258.910943 deg.

2025-06-27T19:45:29.175Z,1751053529.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518848 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:29.407Z,1751053529.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266585
2025-06-27T19:45:29.604Z,1751053529.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:29.611Z,1751053529.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.94 m.
2025-06-27T19:45:29.613Z,1751053529.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.941502 m,
      nav range: 47.097469 m,
      bearing: 261.027028 deg,
      approach rate: -0.712959 m/s,
      LOS rate: -0.077111 deg/s,
      cmd heading: 258.910943 deg,
      new cmd heading: 258.809398 deg.

2025-06-27T19:45:29.619Z,1751053529.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517076 target range: 49.941502 and range: 50.40 m.
2025-06-27T19:45:29.670Z,1751053529.670 [DAT](INFO): DAT read: 19:45:27.3891 LVL= 26352, 32609, 20850, 32755, AGC= 65, IDX= 414,-0.37, 2.057, 0.638, 2.227, 1.667, PHS= 0.478,-0.982, 0.556, RAW= 152.6,  -0.7, CAL= 155.8,  -9.5, ROT= 354.2,   9.5

2025-06-27T19:45:29.672Z,1751053529.672 [DAT](INFO): got valid direction response:
 19:45:27.3891 LVL= 26352, 32609, 20850, 32755, AGC= 65, IDX= 414,-0.37, 2.057, 0.638, 2.227, 1.667, PHS= 0.478,-0.982, 0.556, RAW= 152.6,  -0.7, CAL= 155.8,  -9.5, ROT= 354.2,   9.5

2025-06-27T19:45:29.673Z,1751053529.673 [DAT](INFO): DAT read: Bearing 354.2,   9.5 (Local)

2025-06-27T19:45:29.674Z,1751053529.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,   9.5 (Local)

2025-06-27T19:45:29.697Z,1751053529.697 [DAT](INFO): DAT read: Range 10 to 50 : 48.1 m  (Round-trip  64.2 ms) speed  0.6 m/s

2025-06-27T19:45:29.708Z,1751053529.708 [DAT](INFO): DAT read: user:2730>

2025-06-27T19:45:29.709Z,1751053529.709 [DAT](INFO): DAT read: Tx time:19:45:28.4708

2025-06-27T19:45:29.710Z,1751053529.710 [DAT](INFO): Ping request sent.
2025-06-27T19:45:29.710Z,1751053529.710 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:29.735Z,1751053529.735 [DAT](INFO): DAT read: TxSync time:19:45:28.4700

2025-06-27T19:45:29.736Z,1751053529.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:29.738Z,1751053529.738 [DAT](INFO): direction in FSK: [0.981237,-0.099670,-0.165048]
2025-06-27T19:45:29.743Z,1751053529.743 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:29.743Z,1751053529.743 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:29.748Z,1751053529.748 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:29.748Z,1751053529.748 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:29.980Z,1751053529.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.099998 m,
      deltaT: 3.533097 s,
      deltaX: -2.300003 m,
      approachRate: -0.650988 m/s,
      rangeRepo size: 4

2025-06-27T19:45:29.988Z,1751053529.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.662430 m,
      bearing: 256.900793 deg,
      lat: 36.906836 deg,
      lon: -122.116482 deg,
      deltaT: 3.533097 s,
      deltaX: -2.279072 m,
      approachRate: -0.645063 m/s,
      posRepo size: 4

2025-06-27T19:45:29.989Z,1751053529.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:29.994Z,1751053529.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 46.753571 m,
      bearing: 260.866876 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.077111 deg/s,
      cmd heading: 258.809391 deg,
      new cmd heading: 258.723126 deg.

2025-06-27T19:45:29.995Z,1751053529.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515571 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:30.372Z,1751053530.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:30.384Z,1751053530.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 46.472980 m,
      bearing: 260.835514 deg,
      approach rate: -0.715242 m/s,
      LOS rate: -0.080426 deg/s,
      cmd heading: 258.723140 deg,
      new cmd heading: 258.628487 deg.

2025-06-27T19:45:30.388Z,1751053530.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513918 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:30.820Z,1751053530.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:30.839Z,1751053530.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 46.166794 m,
      bearing: 260.808617 deg,
      approach rate: -0.682776 m/s,
      LOS rate: -0.060375 deg/s,
      cmd heading: 258.628473 deg,
      new cmd heading: 258.547249 deg.

2025-06-27T19:45:30.840Z,1751053530.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512501 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:31.179Z,1751053531.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:31.182Z,1751053531.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 45.921402 m,
      bearing: 260.787289 deg,
      approach rate: -0.683139 m/s,
      LOS rate: -0.059691 deg/s,
      cmd heading: 258.547249 deg,
      new cmd heading: 258.482923 deg.

2025-06-27T19:45:31.183Z,1751053531.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511378 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:31.602Z,1751053531.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:31.605Z,1751053531.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 45.624554 m,
      bearing: 260.765696 deg,
      approach rate: -0.702906 m/s,
      LOS rate: -0.051464 deg/s,
      cmd heading: 258.482936 deg,
      new cmd heading: 258.417734 deg.

2025-06-27T19:45:31.606Z,1751053531.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510240 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:31.982Z,1751053531.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:31.984Z,1751053531.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:31.988Z,1751053531.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 45.359310 m,
      bearing: 260.746859 deg,
      approach rate: -0.692905 m/s,
      LOS rate: -0.049497 deg/s,
      cmd heading: 258.417721 deg,
      new cmd heading: 258.360879 deg.

2025-06-27T19:45:31.989Z,1751053531.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509248 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:32.176Z,1751053532.176 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:32.176Z,1751053532.176 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:32.176Z,1751053532.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:32.409Z,1751053532.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:32.430Z,1751053532.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719615
2025-06-27T19:45:32.447Z,1751053532.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 45.068180 m,
      bearing: 260.726432 deg,
      approach rate: -0.688420 m/s,
      LOS rate: -0.048614 deg/s,
      cmd heading: 258.360867 deg,
      new cmd heading: 258.299190 deg.

2025-06-27T19:45:32.450Z,1751053532.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508172 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:32.680Z,1751053532.680 [DAT](INFO): DAT read: Rx Time:19:45:30.9358

2025-06-27T19:45:32.680Z,1751053532.680 [DAT](INFO): Rx dataTimestamp_ set to:1751053532.680122
2025-06-27T19:45:32.681Z,1751053532.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971020
2025-06-27T19:45:32.802Z,1751053532.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.66 m.
2025-06-27T19:45:32.825Z,1751053532.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.662430 m,
      nav range: 44.789120 m,
      bearing: 260.711429 deg,
      approach rate: -0.707682 m/s,
      LOS rate: -0.038282 deg/s,
      cmd heading: 258.299204 deg,
      new cmd heading: 258.253916 deg.

2025-06-27T19:45:32.826Z,1751053532.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507381 target range: 47.662430 and range: 48.10 m.
2025-06-27T19:45:32.932Z,1751053532.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221815
2025-06-27T19:45:33.189Z,1751053533.189 [DAT](INFO): DAT read: 19:45:30.9358 LVL= 24864, 32753, 19922, 32755, AGC= 64, IDX= 412,-0.05, 0.551,-0.738, 0.682, 0.184, PHS= 0.455,-0.875, 0.495, RAW= 151.5,  -1.1, CAL= 154.9,  -9.9, ROT= 355.1,   9.9

2025-06-27T19:45:33.191Z,1751053533.191 [DAT](INFO): got valid direction response:
 19:45:30.9358 LVL= 24864, 32753, 19922, 32755, AGC= 64, IDX= 412,-0.05, 0.551,-0.738, 0.682, 0.184, PHS= 0.455,-0.875, 0.495, RAW= 151.5,  -1.1, CAL= 154.9,  -9.9, ROT= 355.1,   9.9

2025-06-27T19:45:33.192Z,1751053533.192 [DAT](INFO): DAT read: Bearing 355.1,   9.9 (Local)

2025-06-27T19:45:33.192Z,1751053533.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,   9.9 (Local)

2025-06-27T19:45:33.193Z,1751053533.193 [DAT](INFO): DAT read: Range 10 to 50 : 45.6 m  (Round-trip  60.9 ms) speed  0.8 m/s

2025-06-27T19:45:33.202Z,1751053533.202 [DAT](INFO): DAT read: user:2731>

2025-06-27T19:45:33.203Z,1751053533.203 [DAT](INFO): DAT read: Tx time:19:45:32.0208

2025-06-27T19:45:33.203Z,1751053533.203 [DAT](INFO): Ping request sent.
2025-06-27T19:45:33.204Z,1751053533.204 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:33.204Z,1751053533.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:33.205Z,1751053533.205 [DAT](INFO): direction in FSK: [0.981509,-0.084145,-0.171929]
2025-06-27T19:45:33.205Z,1751053533.205 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:33.205Z,1751053533.205 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:33.209Z,1751053533.209 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:33.209Z,1751053533.209 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:33.252Z,1751053533.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.599998 m,
      deltaT: 3.527025 s,
      deltaX: -2.500000 m,
      approachRate: -0.708813 m/s,
      rangeRepo size: 4

2025-06-27T19:45:33.254Z,1751053533.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.184902 m,
      bearing: 257.160969 deg,
      lat: 36.906829 deg,
      lon: -122.116481 deg,
      deltaT: 3.527025 s,
      deltaX: -2.477528 m,
      approachRate: -0.702441 m/s,
      posRepo size: 4

2025-06-27T19:45:33.259Z,1751053533.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:33.262Z,1751053533.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 44.531948 m,
      bearing: 259.717850 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038282 deg/s,
      cmd heading: 258.253906 deg,
      new cmd heading: 258.202900 deg.

2025-06-27T19:45:33.268Z,1751053533.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506491 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:33.438Z,1751053533.438 [DAT](INFO): DAT read: TxSync time:19:45:32.0200

2025-06-27T19:45:33.668Z,1751053533.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:33.675Z,1751053533.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 44.198208 m,
      bearing: 259.700100 deg,
      approach rate: -0.790837 m/s,
      LOS rate: -0.042379 deg/s,
      cmd heading: 258.202898 deg,
      new cmd heading: 258.149245 deg.

2025-06-27T19:45:33.676Z,1751053533.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505554 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:34.003Z,1751053534.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:34.006Z,1751053534.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:34.011Z,1751053534.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 43.955681 m,
      bearing: 259.688804 deg,
      approach rate: -0.717886 m/s,
      LOS rate: -0.033619 deg/s,
      cmd heading: 258.149240 deg,
      new cmd heading: 258.115167 deg.

2025-06-27T19:45:34.012Z,1751053534.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504960 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:34.191Z,1751053534.191 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:34.191Z,1751053534.191 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:34.191Z,1751053534.191 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:34.402Z,1751053534.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:34.405Z,1751053534.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 43.669735 m,
      bearing: 259.676229 deg,
      approach rate: -0.721122 m/s,
      LOS rate: -0.031921 deg/s,
      cmd heading: 258.115171 deg,
      new cmd heading: 258.077198 deg.

2025-06-27T19:45:34.406Z,1751053534.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504297 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:34.446Z,1751053534.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241983
2025-06-27T19:45:34.696Z,1751053534.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492363
2025-06-27T19:45:34.832Z,1751053534.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:34.835Z,1751053534.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 43.365520 m,
      bearing: 259.661092 deg,
      approach rate: -0.708291 m/s,
      LOS rate: -0.035489 deg/s,
      cmd heading: 258.077195 deg,
      new cmd heading: 258.031468 deg.

2025-06-27T19:45:34.836Z,1751053534.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503499 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:34.948Z,1751053534.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744135
2025-06-27T19:45:35.199Z,1751053535.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995860
2025-06-27T19:45:35.231Z,1751053535.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:35.238Z,1751053535.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 43.090874 m,
      bearing: 259.647519 deg,
      approach rate: -0.687184 m/s,
      LOS rate: -0.034178 deg/s,
      cmd heading: 258.031460 deg,
      new cmd heading: 257.990481 deg.

2025-06-27T19:45:35.239Z,1751053535.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502783 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:35.451Z,1751053535.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247720
2025-06-27T19:45:35.643Z,1751053535.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:35.645Z,1751053535.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 42.793419 m,
      bearing: 259.625789 deg,
      approach rate: -0.724088 m/s,
      LOS rate: -0.053264 deg/s,
      cmd heading: 257.990479 deg,
      new cmd heading: 257.924836 deg.

2025-06-27T19:45:35.647Z,1751053535.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501637 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:35.704Z,1751053535.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500890
2025-06-27T19:45:35.955Z,1751053535.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751797
2025-06-27T19:45:36.114Z,1751053536.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:36.116Z,1751053536.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:36.119Z,1751053536.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 42.469994 m,
      bearing: 259.601816 deg,
      approach rate: -0.682412 m/s,
      LOS rate: -0.050967 deg/s,
      cmd heading: 257.924827 deg,
      new cmd heading: 257.852361 deg.

2025-06-27T19:45:36.120Z,1751053536.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500373 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:36.207Z,1751053536.207 [DAT](INFO): DAT read: Rx Time:19:45:34.4824

2025-06-27T19:45:36.208Z,1751053536.208 [DAT](INFO): Rx dataTimestamp_ set to:1751053536.207657
2025-06-27T19:45:36.208Z,1751053536.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004933
2025-06-27T19:45:36.459Z,1751053536.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255858
2025-06-27T19:45:36.512Z,1751053536.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.18 m.
2025-06-27T19:45:36.534Z,1751053536.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.184902 m,
      nav range: 42.211632 m,
      bearing: 259.583393 deg,
      approach rate: -0.661893 m/s,
      LOS rate: -0.047488 deg/s,
      cmd heading: 257.852373 deg,
      new cmd heading: 257.796764 deg.

2025-06-27T19:45:36.536Z,1751053536.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499403 target range: 45.184902 and range: 45.60 m.
2025-06-27T19:45:36.717Z,1751053536.717 [DAT](INFO): DAT read: 19:45:34.4824 LVL= 22064, 31857, 20850, 31971, AGC= 65, IDX= 409,-0.34,-0.656,-2.049,-0.567,-1.036, PHS= 0.469,-0.965, 0.467, RAW= 149.9,   0.4, CAL= 153.0,  -8.5, ROT= 357.0,   8.5

2025-06-27T19:45:36.718Z,1751053536.718 [DAT](INFO): got valid direction response:
 19:45:34.4824 LVL= 22064, 31857, 20850, 31971, AGC= 65, IDX= 409,-0.34,-0.656,-2.049,-0.567,-1.036, PHS= 0.469,-0.965, 0.467, RAW= 149.9,   0.4, CAL= 153.0,  -8.5, ROT= 357.0,   8.5

2025-06-27T19:45:36.719Z,1751053536.719 [DAT](INFO): DAT read: Bearing 357.0,   8.5 (Local)

2025-06-27T19:45:36.720Z,1751053536.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,   8.5 (Local)

2025-06-27T19:45:36.721Z,1751053536.721 [DAT](INFO): DAT read: Range 10 to 50 : 43.1 m  (Round-trip  57.5 ms) speed  0.6 m/s

2025-06-27T19:45:36.722Z,1751053536.722 [DAT](INFO): DAT read: user:2732>

2025-06-27T19:45:36.723Z,1751053536.723 [DAT](INFO): DAT read: Tx time:19:45:35.5708

2025-06-27T19:45:36.723Z,1751053536.723 [DAT](INFO): Ping request sent.
2025-06-27T19:45:36.723Z,1751053536.723 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:36.723Z,1751053536.723 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:36.724Z,1751053536.724 [DAT](INFO): direction in FSK: [0.987660,-0.051761,-0.147809]
2025-06-27T19:45:36.725Z,1751053536.725 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:36.725Z,1751053536.725 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:36.728Z,1751053536.728 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:36.728Z,1751053536.728 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:36.945Z,1751053536.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.099998 m,
      deltaT: 3.527858 s,
      deltaX: -2.500000 m,
      approachRate: -0.708645 m/s,
      rangeRepo size: 4

2025-06-27T19:45:36.948Z,1751053536.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.707554 m,
      bearing: 258.202610 deg,
      lat: 36.906820 deg,
      lon: -122.116481 deg,
      deltaT: 3.527858 s,
      deltaX: -2.477348 m,
      approachRate: -0.702224 m/s,
      posRepo size: 4

2025-06-27T19:45:36.949Z,1751053536.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:36.952Z,1751053536.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 42.088406 m,
      bearing: 258.158958 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047488 deg/s,
      cmd heading: 257.796775 deg,
      new cmd heading: 257.734460 deg.

2025-06-27T19:45:36.953Z,1751053536.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498315 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:36.964Z,1751053536.964 [DAT](INFO): DAT read: TxSync time:19:45:35.5700

2025-06-27T19:45:37.290Z,1751053537.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:37.293Z,1751053537.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 41.843651 m,
      bearing: 258.126493 deg,
      approach rate: -0.707594 m/s,
      LOS rate: -0.094406 deg/s,
      cmd heading: 257.734456 deg,
      new cmd heading: 257.636492 deg.

2025-06-27T19:45:37.294Z,1751053537.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496605 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:37.678Z,1751053537.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:37.681Z,1751053537.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 41.565029 m,
      bearing: 258.086662 deg,
      approach rate: -0.717640 m/s,
      LOS rate: -0.103279 deg/s,
      cmd heading: 257.636484 deg,
      new cmd heading: 257.516191 deg.

2025-06-27T19:45:37.682Z,1751053537.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494505 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:38.055Z,1751053538.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:38.057Z,1751053538.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 41.305008 m,
      bearing: 258.049142 deg,
      approach rate: -0.690870 m/s,
      LOS rate: -0.100318 deg/s,
      cmd heading: 257.516191 deg,
      new cmd heading: 257.402922 deg.

2025-06-27T19:45:38.058Z,1751053538.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492528 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:38.604Z,1751053538.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:38.606Z,1751053538.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:38.609Z,1751053538.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 40.927361 m,
      bearing: 257.986384 deg,
      approach rate: -0.684547 m/s,
      LOS rate: -0.114809 deg/s,
      cmd heading: 257.402919 deg,
      new cmd heading: 257.212908 deg.

2025-06-27T19:45:38.611Z,1751053538.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489212 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:38.728Z,1751053538.728 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:38.728Z,1751053538.728 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:38.728Z,1751053538.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:38.918Z,1751053538.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:38.921Z,1751053538.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 40.713120 m,
      bearing: 257.950222 deg,
      approach rate: -0.686344 m/s,
      LOS rate: -0.116458 deg/s,
      cmd heading: 257.212903 deg,
      new cmd heading: 257.103847 deg.

2025-06-27T19:45:38.922Z,1751053538.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487309 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:38.980Z,1751053538.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256931
2025-06-27T19:45:39.231Z,1751053539.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508170
2025-06-27T19:45:39.311Z,1751053539.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:39.314Z,1751053539.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 40.443645 m,
      bearing: 257.904341 deg,
      approach rate: -0.685132 m/s,
      LOS rate: -0.117429 deg/s,
      cmd heading: 257.103839 deg,
      new cmd heading: 256.965279 deg.

2025-06-27T19:45:39.315Z,1751053539.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484890 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:39.483Z,1751053539.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760334
2025-06-27T19:45:39.736Z,1751053539.736 [DAT](INFO): DAT read: Rx Time:19:45:38.0291

2025-06-27T19:45:39.736Z,1751053539.736 [DAT](INFO): Rx dataTimestamp_ set to:1751053539.735737
2025-06-27T19:45:39.737Z,1751053539.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013487
2025-06-27T19:45:39.749Z,1751053539.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.71 m.
2025-06-27T19:45:39.752Z,1751053539.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.707554 m,
      nav range: 40.150074 m,
      bearing: 257.851504 deg,
      approach rate: -0.671627 m/s,
      LOS rate: -0.121765 deg/s,
      cmd heading: 256.965268 deg,
      new cmd heading: 256.805596 deg.

2025-06-27T19:45:39.753Z,1751053539.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482103 target range: 42.707554 and range: 43.10 m.
2025-06-27T19:45:39.988Z,1751053539.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264549
2025-06-27T19:45:40.266Z,1751053540.266 [DAT](INFO): DAT read: 19:45:38.0291 LVL= 21840, 32753, 20658, 32755, AGC= 63, IDX= 406,-0.44, 1.567, 0.243, 1.592, 1.174, PHS= 0.481,-0.884, 0.414, RAW= 147.5,  -0.2, CAL= 151.1,  -9.1, ROT= 358.9,   9.1

2025-06-27T19:45:40.275Z,1751053540.275 [DAT](INFO): got valid direction response:
 19:45:38.0291 LVL= 21840, 32753, 20658, 32755, AGC= 63, IDX= 406,-0.44, 1.567, 0.243, 1.592, 1.174, PHS= 0.481,-0.884, 0.414, RAW= 147.5,  -0.2, CAL= 151.1,  -9.1, ROT= 358.9,   9.1

2025-06-27T19:45:40.276Z,1751053540.276 [DAT](INFO): DAT read: Bearing 358.9,   9.1 (Local)

2025-06-27T19:45:40.276Z,1751053540.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,   9.1 (Local)

2025-06-27T19:45:40.278Z,1751053540.278 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m  (Round-trip  54.1 ms) speed  0.6 m/s

2025-06-27T19:45:40.279Z,1751053540.279 [DAT](INFO): DAT read: user:2733>

2025-06-27T19:45:40.279Z,1751053540.279 [DAT](INFO): DAT read: Tx time:19:45:39.1208

2025-06-27T19:45:40.280Z,1751053540.280 [DAT](INFO): Ping request sent.
2025-06-27T19:45:40.280Z,1751053540.280 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:40.280Z,1751053540.280 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:40.281Z,1751053540.281 [DAT](INFO): direction in FSK: [0.987232,-0.018956,-0.158158]
2025-06-27T19:45:40.281Z,1751053540.281 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:40.282Z,1751053540.282 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:40.285Z,1751053540.285 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:40.285Z,1751053540.285 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:40.368Z,1751053540.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.527955 s,
      deltaX: -2.599998 m,
      approachRate: -0.736970 m/s,
      rangeRepo size: 4

2025-06-27T19:45:40.370Z,1751053540.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.131199 m,
      bearing: 259.798602 deg,
      lat: 36.906820 deg,
      lon: -122.116481 deg,
      deltaT: 3.527955 s,
      deltaX: -2.576355 m,
      approachRate: -0.730269 m/s,
      posRepo size: 4

2025-06-27T19:45:40.392Z,1751053540.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:40.395Z,1751053540.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 39.777767 m,
      bearing: 257.783882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.121765 deg/s,
      cmd heading: 256.805605 deg,
      new cmd heading: 256.582787 deg.

2025-06-27T19:45:40.396Z,1751053540.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478214 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:40.493Z,1751053540.493 [DAT](INFO): DAT read: TxSync time:19:45:39.1201

2025-06-27T19:45:40.736Z,1751053540.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:40.743Z,1751053540.743 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:40.743Z,1751053540.743 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:40.744Z,1751053540.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:45:40.746Z,1751053540.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:40.753Z,1751053540.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 39.487354 m,
      bearing: 257.730589 deg,
      approach rate: -0.764661 m/s,
      LOS rate: -0.141353 deg/s,
      cmd heading: 256.582777 deg,
      new cmd heading: 256.421723 deg.

2025-06-27T19:45:40.754Z,1751053540.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475403 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:40.997Z,1751053540.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.716441
2025-06-27T19:45:41.120Z,1751053541.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:41.122Z,1751053541.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 39.239109 m,
      bearing: 257.684404 deg,
      approach rate: -0.651304 m/s,
      LOS rate: -0.121939 deg/s,
      cmd heading: 256.421721 deg,
      new cmd heading: 256.282289 deg.

2025-06-27T19:45:41.123Z,1751053541.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.472970 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:41.247Z,1751053541.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967591
2025-06-27T19:45:41.493Z,1751053541.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:41.496Z,1751053541.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 38.977894 m,
      bearing: 257.636700 deg,
      approach rate: -0.698578 m/s,
      LOS rate: -0.128431 deg/s,
      cmd heading: 256.282276 deg,
      new cmd heading: 256.138206 deg.

2025-06-27T19:45:41.497Z,1751053541.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470455 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:41.499Z,1751053541.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219618
2025-06-27T19:45:41.751Z,1751053541.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471455
2025-06-27T19:45:41.931Z,1751053541.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:41.934Z,1751053541.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 38.686405 m,
      bearing: 257.581468 deg,
      approach rate: -0.665717 m/s,
      LOS rate: -0.127092 deg/s,
      cmd heading: 256.138214 deg,
      new cmd heading: 255.971270 deg.

2025-06-27T19:45:41.935Z,1751053541.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467541 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:42.005Z,1751053542.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724697
2025-06-27T19:45:42.255Z,1751053542.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975489
2025-06-27T19:45:42.324Z,1751053542.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:42.343Z,1751053542.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 38.425262 m,
      bearing: 257.531269 deg,
      approach rate: -0.665573 m/s,
      LOS rate: -0.128812 deg/s,
      cmd heading: 255.971257 deg,
      new cmd heading: 255.819635 deg.

2025-06-27T19:45:42.344Z,1751053542.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464895 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:42.508Z,1751053542.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227731
2025-06-27T19:45:42.737Z,1751053542.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:42.740Z,1751053542.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:42.743Z,1751053542.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 38.150307 m,
      bearing: 257.476716 deg,
      approach rate: -0.661061 m/s,
      LOS rate: -0.132104 deg/s,
      cmd heading: 255.819626 deg,
      new cmd heading: 255.654789 deg.

2025-06-27T19:45:42.744Z,1751053542.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.462018 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:42.759Z,1751053542.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479651
2025-06-27T19:45:43.015Z,1751053543.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734846
2025-06-27T19:45:43.108Z,1751053543.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:43.111Z,1751053543.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 37.905762 m,
      bearing: 257.429844 deg,
      approach rate: -0.663461 m/s,
      LOS rate: -0.127985 deg/s,
      cmd heading: 255.654800 deg,
      new cmd heading: 255.513278 deg.

2025-06-27T19:45:43.112Z,1751053543.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459548 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:43.264Z,1751053543.264 [DAT](INFO): DAT read: Rx Time:19:45:41.5760

2025-06-27T19:45:43.264Z,1751053543.264 [DAT](INFO): Rx dataTimestamp_ set to:1751053543.264047
2025-06-27T19:45:43.265Z,1751053543.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985075
2025-06-27T19:45:43.515Z,1751053543.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235679
2025-06-27T19:45:43.520Z,1751053543.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.13 m.
2025-06-27T19:45:43.543Z,1751053543.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.131199 m,
      nav range: 37.634171 m,
      bearing: 257.378010 deg,
      approach rate: -0.659615 m/s,
      LOS rate: -0.126798 deg/s,
      cmd heading: 255.513279 deg,
      new cmd heading: 255.356655 deg.

2025-06-27T19:45:43.544Z,1751053543.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456814 target range: 40.131199 and range: 40.50 m.
2025-06-27T19:45:43.776Z,1751053543.776 [DAT](INFO): DAT read: 19:45:41.5760 LVL= 19328, 32321, 19938, 32499, AGC= 64, IDX= 407,-0.26, 0.563,-0.871, 0.592, 0.189, PHS= 0.462,-1.013, 0.400, RAW= 147.9,   2.1, CAL= 150.8,  -6.7, ROT= 359.2,   6.7

2025-06-27T19:45:43.777Z,1751053543.777 [DAT](INFO): got valid direction response:
 19:45:41.5760 LVL= 19328, 32321, 19938, 32499, AGC= 64, IDX= 407,-0.26, 0.563,-0.871, 0.592, 0.189, PHS= 0.462,-1.013, 0.400, RAW= 147.9,   2.1, CAL= 150.8,  -6.7, ROT= 359.2,   6.7

2025-06-27T19:45:43.778Z,1751053543.778 [DAT](INFO): DAT read: Bearing 359.2,   6.7 (Local)

2025-06-27T19:45:43.778Z,1751053543.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,   6.7 (Local)

2025-06-27T19:45:43.780Z,1751053543.780 [DAT](INFO): DAT read: Range 10 to 50 : 38.2 m  (Round-trip  51.0 ms) speed  0.7 m/s

2025-06-27T19:45:43.781Z,1751053543.781 [DAT](INFO): DAT read: user:2734>

2025-06-27T19:45:43.782Z,1751053543.782 [DAT](INFO): DAT read: Tx time:19:45:42.6708

2025-06-27T19:45:43.782Z,1751053543.782 [DAT](INFO): Ping request sent.
2025-06-27T19:45:43.782Z,1751053543.782 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:43.783Z,1751053543.783 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:43.784Z,1751053543.784 [DAT](INFO): direction in FSK: [0.993074,-0.013867,-0.116671]
2025-06-27T19:45:43.784Z,1751053543.784 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:43.784Z,1751053543.784 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:43.787Z,1751053543.787 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:43.787Z,1751053543.787 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:43.997Z,1751053543.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.200001 m,
      deltaT: 3.528198 s,
      deltaX: -2.299999 m,
      approachRate: -0.651891 m/s,
      rangeRepo size: 4

2025-06-27T19:45:44.001Z,1751053544.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.852180 m,
      bearing: 258.802060 deg,
      lat: 36.906820 deg,
      lon: -122.116482 deg,
      deltaT: 3.528198 s,
      deltaX: -2.279018 m,
      approachRate: -0.645944 m/s,
      posRepo size: 4

2025-06-27T19:45:44.010Z,1751053544.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:44.020Z,1751053544.020 [DAT](INFO): DAT read: TxSync time:19:45:42.6701

2025-06-27T19:45:44.022Z,1751053544.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 37.452400 m,
      bearing: 257.371239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.126798 deg/s,
      cmd heading: 255.356649 deg,
      new cmd heading: 255.175733 deg.

2025-06-27T19:45:44.027Z,1751053544.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453657 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:44.345Z,1751053544.345 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-06-27T19:45:44.345Z,1751053544.345 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-27T19:45:44.346Z,1751053544.346 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-06-27T19:45:44.351Z,1751053544.351 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.200001 m (mode  2.000000 count ).
2025-06-27T19:45:44.351Z,1751053544.351 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-06-27T19:45:44.351Z,1751053544.351 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-06-27T19:45:44.354Z,1751053544.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:44.361Z,1751053544.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 37.213894 m,
      bearing: 257.333938 deg,
      approach rate: -0.665979 m/s,
      LOS rate: -0.104822 deg/s,
      cmd heading: 255.175731 deg,
      new cmd heading: 255.063112 deg.

2025-06-27T19:45:44.362Z,1751053544.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.451691 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:44.761Z,1751053544.761 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-06-27T19:45:44.761Z,1751053544.761 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-06-27T19:45:44.762Z,1751053544.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:44.764Z,1751053544.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:44.767Z,1751053544.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 36.911587 m,
      bearing: 257.285560 deg,
      approach rate: -0.736503 m/s,
      LOS rate: -0.118827 deg/s,
      cmd heading: 255.063115 deg,
      new cmd heading: 254.916793 deg.

2025-06-27T19:45:44.768Z,1751053544.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449137 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:44.775Z,1751053544.775 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:45:44.775Z,1751053544.775 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:45:44.776Z,1751053544.776 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-06-27T19:45:45.027Z,1751053545.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245332
2025-06-27T19:45:45.127Z,1751053545.127 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-06-27T19:45:45.127Z,1751053545.127 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-06-27T19:45:45.130Z,1751053545.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:45.133Z,1751053545.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 36.658272 m,
      bearing: 257.246400 deg,
      approach rate: -0.692858 m/s,
      LOS rate: -0.107849 deg/s,
      cmd heading: 254.916785 deg,
      new cmd heading: 254.798493 deg.

2025-06-27T19:45:45.134Z,1751053545.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447073 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:45.279Z,1751053545.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497139
2025-06-27T19:45:45.529Z,1751053545.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-06-27T19:45:45.529Z,1751053545.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-27T19:45:45.529Z,1751053545.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-06-27T19:45:45.529Z,1751053545.529 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-06-27T19:45:45.531Z,1751053545.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749318
2025-06-27T19:45:45.533Z,1751053545.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:45.536Z,1751053545.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 36.379360 m,
      bearing: 257.203682 deg,
      approach rate: -0.691171 m/s,
      LOS rate: -0.106670 deg/s,
      cmd heading: 254.798486 deg,
      new cmd heading: 254.669350 deg.

2025-06-27T19:45:45.537Z,1751053545.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444818 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:45.784Z,1751053545.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001591
2025-06-27T19:45:45.986Z,1751053545.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:45.994Z,1751053545.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 36.068123 m,
      bearing: 257.158227 deg,
      approach rate: -0.687927 m/s,
      LOS rate: -0.101336 deg/s,
      cmd heading: 254.669341 deg,
      new cmd heading: 254.531799 deg.

2025-06-27T19:45:45.000Z,1751053546.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442418 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:46.035Z,1751053546.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253316
2025-06-27T19:45:46.287Z,1751053546.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505213
2025-06-27T19:45:46.357Z,1751053546.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:46.364Z,1751053546.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 35.808712 m,
      bearing: 257.120938 deg,
      approach rate: -0.699319 m/s,
      LOS rate: -0.101253 deg/s,
      cmd heading: 254.531808 deg,
      new cmd heading: 254.419129 deg.

2025-06-27T19:45:46.365Z,1751053546.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440452 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:46.539Z,1751053546.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757255
2025-06-27T19:45:46.768Z,1751053546.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:46.771Z,1751053546.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:46.773Z,1751053546.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 35.518635 m,
      bearing: 257.091129 deg,
      approach rate: -0.701166 m/s,
      LOS rate: -0.072641 deg/s,
      cmd heading: 254.419137 deg,
      new cmd heading: 254.328981 deg.

2025-06-27T19:45:46.774Z,1751053546.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.438878 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:46.792Z,1751053546.792 [DAT](INFO): DAT read: Rx Time:19:45:45.1228

2025-06-27T19:45:46.792Z,1751053546.792 [DAT](INFO): Rx dataTimestamp_ set to:1751053546.792052
2025-06-27T19:45:46.793Z,1751053546.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010765
2025-06-27T19:45:47.043Z,1751053547.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261105
2025-06-27T19:45:47.276Z,1751053547.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.85 m.
2025-06-27T19:45:47.283Z,1751053547.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.852180 m,
      nav range: 35.224251 m,
      bearing: 257.061828 deg,
      approach rate: -0.582402 m/s,
      LOS rate: -0.058453 deg/s,
      cmd heading: 254.328979 deg,
      new cmd heading: 254.240340 deg.

2025-06-27T19:45:47.284Z,1751053547.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437331 target range: 37.852180 and range: 38.20 m.
2025-06-27T19:45:47.301Z,1751053547.301 [DAT](INFO): DAT read: 19:45:45.1228 LVL= 21280, 30049, 21042, 31651, AGC= 62, IDX= 405, 0.11, 2.323, 0.899, 2.255, 1.912, PHS= 0.499,-0.966, 0.340, RAW= 144.3,   1.8, CAL= 147.9,  -6.9, ROT=   2.1,   6.9

2025-06-27T19:45:47.303Z,1751053547.303 [DAT](INFO): got valid direction response:
 19:45:45.1228 LVL= 21280, 30049, 21042, 31651, AGC= 62, IDX= 405, 0.11, 2.323, 0.899, 2.255, 1.912, PHS= 0.499,-0.966, 0.340, RAW= 144.3,   1.8, CAL= 147.9,  -6.9, ROT=   2.1,   6.9

2025-06-27T19:45:47.304Z,1751053547.304 [DAT](INFO): DAT read: Bearing   2.1,   6.9 (Local)

2025-06-27T19:45:47.304Z,1751053547.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.1,   6.9 (Local)

2025-06-27T19:45:47.305Z,1751053547.305 [DAT](INFO): DAT read: Range 10 to 50 : 35.8 m  (Round-trip  47.8 ms) speed  0.6 m/s

2025-06-27T19:45:47.306Z,1751053547.306 [DAT](INFO): DAT read: user:2735>

2025-06-27T19:45:47.307Z,1751053547.307 [DAT](INFO): DAT read: Tx time:19:45:46.2208

2025-06-27T19:45:47.307Z,1751053547.307 [DAT](INFO): Ping request sent.
2025-06-27T19:45:47.307Z,1751053547.307 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:47.308Z,1751053547.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:45:47.309Z,1751053547.309 [DAT](INFO): direction in FSK: [0.992091,0.036378,-0.120137]
2025-06-27T19:45:47.309Z,1751053547.309 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:47.309Z,1751053547.309 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:47.316Z,1751053547.316 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:47.317Z,1751053547.317 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:47.328Z,1751053547.328 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.020706
2025-06-27T19:45:47.549Z,1751053547.549 [DAT](INFO): DAT read: TxSync time:19:45:46.2201

2025-06-27T19:45:47.549Z,1751053547.549 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.241856
2025-06-27T19:45:47.786Z,1751053547.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.799999 m,
      deltaT: 3.528033 s,
      deltaX: -2.400002 m,
      approachRate: -0.680266 m/s,
      rangeRepo size: 4

2025-06-27T19:45:47.788Z,1751053547.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.474072 m,
      bearing: 260.175129 deg,
      lat: 36.906828 deg,
      lon: -122.116483 deg,
      deltaT: 3.528033 s,
      deltaX: -2.378109 m,
      approachRate: -0.674061 m/s,
      posRepo size: 4

2025-06-27T19:45:47.789Z,1751053547.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:47.792Z,1751053547.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 34.661213 m,
      bearing: 258.472834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.058453 deg/s,
      cmd heading: 254.240350 deg,
      new cmd heading: 254.151001 deg.

2025-06-27T19:45:47.793Z,1751053547.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435772 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:47.799Z,1751053547.799 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.491841
2025-06-27T19:45:48.051Z,1751053548.051 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.743903
2025-06-27T19:45:48.214Z,1751053548.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:48.217Z,1751053548.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 34.363132 m,
      bearing: 258.465094 deg,
      approach rate: -0.696077 m/s,
      LOS rate: -0.018231 deg/s,
      cmd heading: 254.151011 deg,
      new cmd heading: 254.127589 deg.

2025-06-27T19:45:48.218Z,1751053548.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435363 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:48.304Z,1751053548.304 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996637
2025-06-27T19:45:48.555Z,1751053548.555 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.247856
2025-06-27T19:45:48.634Z,1751053548.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:48.637Z,1751053548.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 34.084164 m,
      bearing: 258.458760 deg,
      approach rate: -0.663553 m/s,
      LOS rate: -0.015190 deg/s,
      cmd heading: 254.127597 deg,
      new cmd heading: 254.108439 deg.

2025-06-27T19:45:48.638Z,1751053548.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435029 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:48.807Z,1751053548.807 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499924
2025-06-27T19:45:49.059Z,1751053549.059 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751959
2025-06-27T19:45:49.062Z,1751053549.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:49.064Z,1751053549.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:49.067Z,1751053549.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 33.776970 m,
      bearing: 258.455746 deg,
      approach rate: -0.713657 m/s,
      LOS rate: -0.007066 deg/s,
      cmd heading: 254.108445 deg,
      new cmd heading: 254.099321 deg.

2025-06-27T19:45:49.068Z,1751053549.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434870 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:49.311Z,1751053549.311 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003845
2025-06-27T19:45:49.435Z,1751053549.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:49.438Z,1751053549.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 33.516426 m,
      bearing: 258.453529 deg,
      approach rate: -0.703237 m/s,
      LOS rate: -0.006030 deg/s,
      cmd heading: 254.099320 deg,
      new cmd heading: 254.092618 deg.

2025-06-27T19:45:49.439Z,1751053549.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434753 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:49.563Z,1751053549.563 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255853
2025-06-27T19:45:49.815Z,1751053549.815 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.507841
2025-06-27T19:45:49.928Z,1751053549.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:49.931Z,1751053549.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 33.174164 m,
      bearing: 258.447173 deg,
      approach rate: -0.694610 m/s,
      LOS rate: -0.013033 deg/s,
      cmd heading: 254.092627 deg,
      new cmd heading: 254.073360 deg.

2025-06-27T19:45:49.932Z,1751053549.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434417 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:50.068Z,1751053550.068 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.760176
2025-06-27T19:45:50.246Z,1751053550.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:50.253Z,1751053550.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 32.952522 m,
      bearing: 258.443808 deg,
      approach rate: -0.697056 m/s,
      LOS rate: -0.010655 deg/s,
      cmd heading: 254.073366 deg,
      new cmd heading: 254.063202 deg.

2025-06-27T19:45:50.254Z,1751053550.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434239 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:50.320Z,1751053550.320 [DAT](INFO): DAT read: Rx Time:19:45:48.6694

2025-06-27T19:45:50.321Z,1751053550.321 [DAT](INFO): Rx dataTimestamp_ set to:1751053550.320427
2025-06-27T19:45:50.322Z,1751053550.322 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.014126
2025-06-27T19:45:50.571Z,1751053550.571 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.263821
2025-06-27T19:45:50.656Z,1751053550.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.47 m.
2025-06-27T19:45:50.661Z,1751053550.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.474072 m,
      nav range: 32.668468 m,
      bearing: 258.440189 deg,
      approach rate: -0.695477 m/s,
      LOS rate: -0.008937 deg/s,
      cmd heading: 254.063202 deg,
      new cmd heading: 254.052251 deg.

2025-06-27T19:45:50.663Z,1751053550.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434048 target range: 35.474072 and range: 35.80 m.
2025-06-27T19:45:50.829Z,1751053550.829 [DAT](INFO): DAT read: 19:45:48.6695 LVL= 24416, 32753, 23346, 32755, AGC= 63, IDX= 402, 0.44,-2.115, 2.761,-2.349,-2.569, PHS= 0.542,-0.906, 0.218, RAW= 137.7,   2.3, CAL= 142.3,  -6.1, ROT=   7.7,   6.1

2025-06-27T19:45:50.831Z,1751053550.831 [DAT](INFO): got valid direction response:
 19:45:48.6695 LVL= 24416, 32753, 23346, 32755, AGC= 63, IDX= 402, 0.44,-2.115, 2.761,-2.349,-2.569, PHS= 0.542,-0.906, 0.218, RAW= 137.7,   2.3, CAL= 142.3,  -6.1, ROT=   7.7,   6.1

2025-06-27T19:45:50.832Z,1751053550.832 [DAT](INFO): DAT read: Bearing   7.7,   6.1 (Local)

2025-06-27T19:45:50.832Z,1751053550.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.7,   6.1 (Local)

2025-06-27T19:45:50.834Z,1751053550.834 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m  (Round-trip  44.4 ms) speed  0.5 m/s

2025-06-27T19:45:50.834Z,1751053550.834 [DAT](INFO): DAT read: user:2736>

2025-06-27T19:45:50.835Z,1751053550.835 [DAT](INFO): DAT read: Tx time:19:45:49.7709

2025-06-27T19:45:50.835Z,1751053550.835 [DAT](INFO): Ping request sent.
2025-06-27T19:45:50.836Z,1751053550.836 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:50.836Z,1751053550.836 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-06-27T19:45:50.837Z,1751053550.837 [DAT](INFO): direction in FSK: [0.985372,0.133228,-0.106264]
2025-06-27T19:45:50.837Z,1751053550.837 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:50.837Z,1751053550.837 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:50.849Z,1751053550.849 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:50.849Z,1751053550.849 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:50.861Z,1751053550.861 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.025028
2025-06-27T19:45:51.077Z,1751053551.077 [DAT](INFO): DAT read: TxSync time:19:45:49.7702

2025-06-27T19:45:51.079Z,1751053551.079 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.243308
2025-06-27T19:45:51.172Z,1751053551.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 3.527986 s,
      deltaX: -2.500000 m,
      approachRate: -0.708620 m/s,
      rangeRepo size: 4

2025-06-27T19:45:51.187Z,1751053551.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.996845 m,
      bearing: 264.724049 deg,
      lat: 36.906833 deg,
      lon: -122.116486 deg,
      deltaT: 3.527986 s,
      deltaX: -2.477226 m,
      approachRate: -0.702164 m/s,
      posRepo size: 4

2025-06-27T19:45:51.188Z,1751053551.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:51.199Z,1751053551.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 32.528309 m,
      bearing: 259.425093 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008937 deg/s,
      cmd heading: 254.052247 deg,
      new cmd heading: 254.038370 deg.

2025-06-27T19:45:51.200Z,1751053551.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433806 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:51.328Z,1751053551.328 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.492354
2025-06-27T19:45:51.496Z,1751053551.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:51.511Z,1751053551.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:51.514Z,1751053551.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 32.271847 m,
      bearing: 259.435078 deg,
      approach rate: -0.785022 m/s,
      LOS rate: 0.030806 deg/s,
      cmd heading: 254.038368 deg,
      new cmd heading: 254.068560 deg.

2025-06-27T19:45:51.519Z,1751053551.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434333 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:51.580Z,1751053551.580 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744809
2025-06-27T19:45:51.831Z,1751053551.831 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995727
2025-06-27T19:45:51.946Z,1751053551.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:51.949Z,1751053551.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 31.976322 m,
      bearing: 259.441135 deg,
      approach rate: -0.665875 m/s,
      LOS rate: 0.013775 deg/s,
      cmd heading: 254.068557 deg,
      new cmd heading: 254.086897 deg.

2025-06-27T19:45:51.950Z,1751053551.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434653 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:52.083Z,1751053552.083 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.247694
2025-06-27T19:45:52.310Z,1751053552.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:52.313Z,1751053552.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 31.707617 m,
      bearing: 259.447632 deg,
      approach rate: -0.730195 m/s,
      LOS rate: 0.017805 deg/s,
      cmd heading: 254.086889 deg,
      new cmd heading: 254.106545 deg.

2025-06-27T19:45:52.314Z,1751053552.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434996 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:52.335Z,1751053552.335 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.499666
2025-06-27T19:45:52.587Z,1751053552.587 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.751730
2025-06-27T19:45:52.789Z,1751053552.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:52.792Z,1751053552.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 31.397718 m,
      bearing: 259.455263 deg,
      approach rate: -0.647501 m/s,
      LOS rate: 0.016102 deg/s,
      cmd heading: 254.106533 deg,
      new cmd heading: 254.129652 deg.

2025-06-27T19:45:52.793Z,1751053552.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435399 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:52.840Z,1751053552.840 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004776
2025-06-27T19:45:53.091Z,1751053553.091 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.255750
2025-06-27T19:45:53.140Z,1751053553.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:53.143Z,1751053553.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 31.129215 m,
      bearing: 259.451524 deg,
      approach rate: -0.765396 m/s,
      LOS rate: -0.010751 deg/s,
      cmd heading: 254.129646 deg,
      new cmd heading: 254.118332 deg.

2025-06-27T19:45:53.144Z,1751053553.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435202 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:53.344Z,1751053553.344 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.508210
2025-06-27T19:45:53.518Z,1751053553.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:53.520Z,1751053553.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:53.523Z,1751053553.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 30.866220 m,
      bearing: 259.448518 deg,
      approach rate: -0.690795 m/s,
      LOS rate: -0.007962 deg/s,
      cmd heading: 254.118336 deg,
      new cmd heading: 254.109242 deg.

2025-06-27T19:45:53.524Z,1751053553.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435043 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:53.596Z,1751053553.596 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760415
2025-06-27T19:45:53.847Z,1751053553.847 [DAT](INFO): DAT read: Rx Time:19:45:52.2161

2025-06-27T19:45:53.848Z,1751053553.848 [DAT](INFO): Rx dataTimestamp_ set to:1751053553.847554
2025-06-27T19:45:53.848Z,1751053553.848 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.012757
2025-06-27T19:45:53.975Z,1751053553.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.00 m.
2025-06-27T19:45:53.977Z,1751053553.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.996845 m,
      nav range: 30.553661 m,
      bearing: 259.439738 deg,
      approach rate: -0.694172 m/s,
      LOS rate: -0.019700 deg/s,
      cmd heading: 254.109238 deg,
      new cmd heading: 254.082627 deg.

2025-06-27T19:45:53.983Z,1751053553.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434578 target range: 32.996845 and range: 33.30 m.
2025-06-27T19:45:54.099Z,1751053554.099 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.263742
2025-06-27T19:45:54.366Z,1751053554.366 [DAT](INFO): DAT read: 19:45:52.2161 LVL= 22832, 32753, 19362, 32755, AGC= 64, IDX= 400, 0.11,-2.448, 2.342,-2.744,-2.927, PHS= 0.567,-0.967, 0.180, RAW= 136.0,   3.2, CAL= 140.9,  -4.7, ROT=   9.1,   4.7

2025-06-27T19:45:54.368Z,1751053554.368 [DAT](INFO): got valid direction response:
 19:45:52.2161 LVL= 22832, 32753, 19362, 32755, AGC= 64, IDX= 400, 0.11,-2.448, 2.342,-2.744,-2.927, PHS= 0.567,-0.967, 0.180, RAW= 136.0,   3.2, CAL= 140.9,  -4.7, ROT=   9.1,   4.7

2025-06-27T19:45:54.369Z,1751053554.369 [DAT](INFO): DAT read: Bearing   9.1,   4.7 (Local)

2025-06-27T19:45:54.369Z,1751053554.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.1,   4.7 (Local)

2025-06-27T19:45:54.375Z,1751053554.375 [DAT](INFO): DAT read: Range 10 to 50 : 30.7 m  (Round-trip  41.0 ms) speed  0.6 m/s

2025-06-27T19:45:54.376Z,1751053554.376 [DAT](INFO): DAT read: user:2737>

2025-06-27T19:45:54.377Z,1751053554.377 [DAT](INFO): DAT read: Tx time:19:45:53.3209

2025-06-27T19:45:54.377Z,1751053554.377 [DAT](INFO): Ping request sent.
2025-06-27T19:45:54.377Z,1751053554.377 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:54.377Z,1751053554.377 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-06-27T19:45:54.391Z,1751053554.391 [DAT](INFO): direction in FSK: [0.984094,0.157626,-0.081939]
2025-06-27T19:45:54.391Z,1751053554.391 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:54.391Z,1751053554.391 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:54.402Z,1751053554.402 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:54.403Z,1751053554.403 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:54.406Z,1751053554.406 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.028749
2025-06-27T19:45:54.418Z,1751053554.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.700001 m,
      deltaT: 3.529577 s,
      deltaX: -2.599998 m,
      approachRate: -0.736632 m/s,
      rangeRepo size: 4

2025-06-27T19:45:54.421Z,1751053554.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.420586 m,
      bearing: 265.225159 deg,
      lat: 36.906836 deg,
      lon: -122.116491 deg,
      deltaT: 3.529577 s,
      deltaX: -2.576260 m,
      approachRate: -0.729906 m/s,
      posRepo size: 4

2025-06-27T19:45:54.421Z,1751053554.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:54.432Z,1751053554.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 30.621931 m,
      bearing: 260.333540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019700 deg/s,
      cmd heading: 254.082627 deg,
      new cmd heading: 254.056441 deg.

2025-06-27T19:45:54.433Z,1751053554.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434122 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:54.604Z,1751053554.604 [DAT](INFO): DAT read: TxSync time:19:45:53.3202

2025-06-27T19:45:54.604Z,1751053554.604 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.227289
2025-06-27T19:45:54.820Z,1751053554.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:54.828Z,1751053554.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 30.326668 m,
      bearing: 260.335601 deg,
      approach rate: -0.725709 m/s,
      LOS rate: 0.005114 deg/s,
      cmd heading: 254.056454 deg,
      new cmd heading: 254.062696 deg.

2025-06-27T19:45:54.829Z,1751053554.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434230 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:54.856Z,1751053554.856 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.478385
2025-06-27T19:45:55.107Z,1751053555.107 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.730187
2025-06-27T19:45:55.174Z,1751053555.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:55.177Z,1751053555.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 30.082005 m,
      bearing: 260.340078 deg,
      approach rate: -0.692605 m/s,
      LOS rate: 0.012777 deg/s,
      cmd heading: 254.062683 deg,
      new cmd heading: 254.076224 deg.

2025-06-27T19:45:55.178Z,1751053555.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434467 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:55.359Z,1751053555.359 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.982159
2025-06-27T19:45:55.552Z,1751053555.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:55.554Z,1751053555.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:55.557Z,1751053555.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 29.821182 m,
      bearing: 260.345905 deg,
      approach rate: -0.685858 m/s,
      LOS rate: 0.015457 deg/s,
      cmd heading: 254.076234 deg,
      new cmd heading: 254.093869 deg.

2025-06-27T19:45:55.558Z,1751053555.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434774 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:55.613Z,1751053555.613 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.235515
2025-06-27T19:45:55.863Z,1751053555.863 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.486180
2025-06-27T19:45:55.981Z,1751053555.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:55.985Z,1751053555.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 29.530186 m,
      bearing: 260.347610 deg,
      approach rate: -0.681507 m/s,
      LOS rate: 0.004032 deg/s,
      cmd heading: 254.093856 deg,
      new cmd heading: 254.099021 deg.

2025-06-27T19:45:55.986Z,1751053555.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434865 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:56.116Z,1751053556.116 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.738940
2025-06-27T19:45:56.360Z,1751053556.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:56.367Z,1751053556.367 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.990351
2025-06-27T19:45:56.384Z,1751053556.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 29.270906 m,
      bearing: 260.349359 deg,
      approach rate: -0.683332 m/s,
      LOS rate: 0.004649 deg/s,
      cmd heading: 254.099020 deg,
      new cmd heading: 254.104311 deg.

2025-06-27T19:45:56.385Z,1751053556.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434957 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:56.619Z,1751053556.619 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.242299
2025-06-27T19:45:56.838Z,1751053556.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:56.841Z,1751053556.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 28.972710 m,
      bearing: 260.351517 deg,
      approach rate: -0.624408 m/s,
      LOS rate: 0.004566 deg/s,
      cmd heading: 254.104320 deg,
      new cmd heading: 254.110861 deg.

2025-06-27T19:45:56.850Z,1751053556.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435071 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:56.872Z,1751053556.872 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.494785
2025-06-27T19:45:57.123Z,1751053557.123 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.746203
2025-06-27T19:45:57.232Z,1751053557.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:57.239Z,1751053557.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 28.701181 m,
      bearing: 260.349498 deg,
      approach rate: -0.689011 m/s,
      LOS rate: -0.005171 deg/s,
      cmd heading: 254.110850 deg,
      new cmd heading: 254.104736 deg.

2025-06-27T19:45:57.243Z,1751053557.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434964 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:57.375Z,1751053557.375 [DAT](INFO): DAT read: Rx Time:19:45:55.7629

2025-06-27T19:45:57.376Z,1751053557.376 [DAT](INFO): Rx dataTimestamp_ set to:1751053557.375552
2025-06-27T19:45:57.376Z,1751053557.376 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.999278
2025-06-27T19:45:57.572Z,1751053557.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:57.574Z,1751053557.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m.
2025-06-27T19:45:57.577Z,1751053557.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.420586 m,
      nav range: 28.451571 m,
      bearing: 260.347516 deg,
      approach rate: -0.730164 m/s,
      LOS rate: -0.005847 deg/s,
      cmd heading: 254.104730 deg,
      new cmd heading: 254.098733 deg.

2025-06-27T19:45:57.578Z,1751053557.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434860 target range: 30.420586 and range: 30.70 m.
2025-06-27T19:45:57.629Z,1751053557.629 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.251492
2025-06-27T19:45:57.900Z,1751053557.900 [DAT](INFO): DAT read: 19:45:55.7629 LVL= 18976, 26801, 18338, 30019, AGC= 60, IDX= 415, 0.19, 0.809,-0.674, 0.543, 0.323, PHS= 0.574,-0.950, 0.217, RAW= 137.1,   2.3, CAL= 141.8,  -6.0, ROT=   8.2,   6.0

2025-06-27T19:45:57.904Z,1751053557.904 [DAT](INFO): got valid direction response:
 19:45:55.7629 LVL= 18976, 26801, 18338, 30019, AGC= 60, IDX= 415, 0.19, 0.809,-0.674, 0.543, 0.323, PHS= 0.574,-0.950, 0.217, RAW= 137.1,   2.3, CAL= 141.8,  -6.0, ROT=   8.2,   6.0

2025-06-27T19:45:57.905Z,1751053557.905 [DAT](INFO): DAT read: Bearing   8.2,   6.0 (Local)

2025-06-27T19:45:57.905Z,1751053557.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,   6.0 (Local)

2025-06-27T19:45:57.907Z,1751053557.907 [DAT](INFO): DAT read: Range 10 to 50 : 28.3 m  (Round-trip  37.8 ms) speed  0.6 m/s

2025-06-27T19:45:57.907Z,1751053557.907 [DAT](INFO): DAT read: user:2738>

2025-06-27T19:45:57.908Z,1751053557.908 [DAT](INFO): DAT read: Tx time:19:45:56.8709

2025-06-27T19:45:57.908Z,1751053557.908 [DAT](INFO): Ping request sent.
2025-06-27T19:45:57.909Z,1751053557.909 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:45:57.909Z,1751053557.909 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-06-27T19:45:57.910Z,1751053557.910 [DAT](INFO): direction in FSK: [0.984354,0.141848,-0.104528]
2025-06-27T19:45:57.910Z,1751053557.910 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:57.963Z,1751053557.963 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:57.966Z,1751053557.966 [DAT](INFO): publishing transmit ping time
2025-06-27T19:45:57.966Z,1751053557.966 [DAT](INFO): publishing direction and range info
2025-06-27T19:45:57.978Z,1751053557.978 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.069008
2025-06-27T19:45:58.088Z,1751053558.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.299999 m,
      deltaT: 3.528166 s,
      deltaX: -2.400002 m,
      approachRate: -0.680241 m/s,
      rangeRepo size: 4

2025-06-27T19:45:58.094Z,1751053558.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.042427 m,
      bearing: 263.957896 deg,
      lat: 36.906852 deg,
      lon: -122.116492 deg,
      deltaT: 3.528166 s,
      deltaX: -2.378159 m,
      approachRate: -0.674049 m/s,
      posRepo size: 4

2025-06-27T19:45:58.095Z,1751053558.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:45:58.103Z,1751053558.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 27.949183 m,
      bearing: 263.957991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005847 deg/s,
      cmd heading: 254.098747 deg,
      new cmd heading: 254.089734 deg.

2025-06-27T19:45:58.104Z,1751053558.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.434702 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:45:58.132Z,1751053558.132 [DAT](INFO): DAT read: TxSync time:19:45:56.8702

2025-06-27T19:45:58.132Z,1751053558.132 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.223744
2025-06-27T19:45:58.383Z,1751053558.383 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.474854
2025-06-27T19:45:58.390Z,1751053558.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:45:58.393Z,1751053558.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 27.734783 m,
      bearing: 263.985000 deg,
      approach rate: -0.709847 m/s,
      LOS rate: 0.090117 deg/s,
      cmd heading: 254.089731 deg,
      new cmd heading: 254.171386 deg.

2025-06-27T19:45:58.394Z,1751053558.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436128 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:45:58.636Z,1751053558.636 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.726922
2025-06-27T19:45:58.841Z,1751053558.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:45:58.844Z,1751053558.844 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:45:58.863Z,1751053558.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 27.464632 m,
      bearing: 264.020228 deg,
      approach rate: -0.601248 m/s,
      LOS rate: 0.079174 deg/s,
      cmd heading: 254.171392 deg,
      new cmd heading: 254.278116 deg.

2025-06-27T19:45:58.864Z,1751053558.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437990 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:45:58.887Z,1751053558.887 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.978834
2025-06-27T19:45:59.139Z,1751053559.139 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.230708
2025-06-27T19:45:59.238Z,1751053559.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:45:59.241Z,1751053559.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 27.169977 m,
      bearing: 264.064715 deg,
      approach rate: -0.738809 m/s,
      LOS rate: 0.112755 deg/s,
      cmd heading: 254.278107 deg,
      new cmd heading: 254.413015 deg.

2025-06-27T19:45:59.259Z,1751053559.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440345 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:45:59.391Z,1751053559.391 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.482878
2025-06-27T19:45:59.607Z,1751053559.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:45:59.609Z,1751053559.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:45:59.612Z,1751053559.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 26.921652 m,
      bearing: 264.103750 deg,
      approach rate: -0.668949 m/s,
      LOS rate: 0.106123 deg/s,
      cmd heading: 254.413017 deg,
      new cmd heading: 254.531201 deg.

2025-06-27T19:45:59.613Z,1751053559.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442408 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:45:59.644Z,1751053559.644 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.735202
2025-06-27T19:45:59.848Z,1751053559.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:45:59.895Z,1751053559.895 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.986827
2025-06-27T19:46:00.045Z,1751053560.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:46:00.050Z,1751053560.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 26.626158 m,
      bearing: 264.150911 deg,
      approach rate: -0.677296 m/s,
      LOS rate: 0.109297 deg/s,
      cmd heading: 254.531207 deg,
      new cmd heading: 254.674261 deg.

2025-06-27T19:46:00.051Z,1751053560.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444904 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:46:00.148Z,1751053560.148 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.238964
2025-06-27T19:46:00.399Z,1751053560.399 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.490828
2025-06-27T19:46:00.435Z,1751053560.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:46:00.438Z,1751053560.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 26.376118 m,
      bearing: 264.191552 deg,
      approach rate: -0.641581 m/s,
      LOS rate: 0.105270 deg/s,
      cmd heading: 254.674258 deg,
      new cmd heading: 254.797337 deg.

2025-06-27T19:46:00.443Z,1751053560.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.447052 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:46:00.652Z,1751053560.652 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.743151
2025-06-27T19:46:00.833Z,1751053560.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:46:00.843Z,1751053560.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 26.098766 m,
      bearing: 264.237515 deg,
      approach rate: -0.703964 m/s,
      LOS rate: 0.117902 deg/s,
      cmd heading: 254.797338 deg,
      new cmd heading: 254.936693 deg.

2025-06-27T19:46:00.847Z,1751053560.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.449485 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:46:00.903Z,1751053560.903 [DAT](INFO): DAT read: Rx Time:19:45:59.3098

2025-06-27T19:46:00.904Z,1751053560.904 [DAT](INFO): Rx dataTimestamp_ set to:1751053560.903676
2025-06-27T19:46:00.904Z,1751053560.904 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.995932
2025-06-27T19:46:01.155Z,1751053561.155 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.246840
2025-06-27T19:46:01.270Z,1751053561.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:46:01.273Z,1751053561.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 25.803389 m,
      bearing: 264.290894 deg,
      approach rate: -0.675598 m/s,
      LOS rate: 0.123486 deg/s,
      cmd heading: 254.936701 deg,
      new cmd heading: 255.098669 deg.

2025-06-27T19:46:01.278Z,1751053561.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452312 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:46:01.411Z,1751053561.411 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.502074
2025-06-27T19:46:01.624Z,1751053561.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:01.626Z,1751053561.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-06-27T19:46:01.629Z,1751053561.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042427 m,
      nav range: 25.551765 m,
      bearing: 264.337341 deg,
      approach rate: -0.699912 m/s,
      LOS rate: 0.130471 deg/s,
      cmd heading: 255.098659 deg,
      new cmd heading: 255.239375 deg.

2025-06-27T19:46:01.630Z,1751053561.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454768 target range: 28.042427 and range: 28.30 m.
2025-06-27T19:46:01.669Z,1751053561.669 [DAT](INFO): DAT read: 19:45:59.3098 LVL= 26896, 32753, 26914, 32755, AGC= 60, IDX= 415, 0.06,-0.224,-1.692,-0.444,-0.726, PHS= 0.591,-0.919, 0.279, RAW= 138.7,   0.7, CAL= 143.4,  -8.0, ROT=   6.6,   8.0

2025-06-27T19:46:01.671Z,1751053561.671 [DAT](INFO): got valid direction response:
 19:45:59.3098 LVL= 26896, 32753, 26914, 32755, AGC= 60, IDX= 415, 0.06,-0.224,-1.692,-0.444,-0.726, PHS= 0.591,-0.919, 0.279, RAW= 138.7,   0.7, CAL= 143.4,  -8.0, ROT=   6.6,   8.0

2025-06-27T19:46:01.673Z,1751053561.673 [DAT](INFO): DAT read: Bearing   6.6,   8.0 (Local)

2025-06-27T19:46:01.673Z,1751053561.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,   8.0 (Local)

2025-06-27T19:46:01.676Z,1751053561.676 [DAT](INFO): DAT read: Range 10 to 50 : 26.0 m  (Round-trip  34.7 ms) speed  0.6 m/s

2025-06-27T19:46:01.677Z,1751053561.677 [DAT](INFO): DAT read: user:2739>

2025-06-27T19:46:01.678Z,1751053561.678 [DAT](INFO): DAT read: Tx time:19:46:00.4225

2025-06-27T19:46:01.679Z,1751053561.679 [DAT](INFO): Ping request sent.
2025-06-27T19:46:01.679Z,1751053561.679 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:01.680Z,1751053561.680 [DAT](INFO): DAT read: TxSync time:19:46:00.4218

2025-06-27T19:46:01.681Z,1751053561.681 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-06-27T19:46:01.694Z,1751053561.694 [DAT](INFO): direction in FSK: [0.983705,0.113819,-0.139173]
2025-06-27T19:46:01.695Z,1751053561.695 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:01.695Z,1751053561.695 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:01.698Z,1751053561.698 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:01.703Z,1751053561.703 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:01.717Z,1751053561.717 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.037782
2025-06-27T19:46:01.914Z,1751053561.914 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.234304
2025-06-27T19:46:02.069Z,1751053562.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 3.778495 s,
      deltaX: -2.299999 m,
      approachRate: -0.608708 m/s,
      rangeRepo size: 4

2025-06-27T19:46:02.084Z,1751053562.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.763311 m,
      bearing: 262.459701 deg,
      lat: 36.906852 deg,
      lon: -122.116492 deg,
      deltaT: 3.778495 s,
      deltaX: -2.279116 m,
      approachRate: -0.603181 m/s,
      posRepo size: 4

2025-06-27T19:46:02.084Z,1751053562.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:02.091Z,1751053562.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 25.251093 m,
      bearing: 264.408987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.130471 deg/s,
      cmd heading: 255.239388 deg,
      new cmd heading: 255.412720 deg.

2025-06-27T19:46:02.092Z,1751053562.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457793 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:02.164Z,1751053562.164 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.484597
2025-06-27T19:46:02.415Z,1751053562.415 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.736454
2025-06-27T19:46:02.446Z,1751053562.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:02.449Z,1751053562.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 24.997572 m,
      bearing: 264.469405 deg,
      approach rate: -0.672216 m/s,
      LOS rate: 0.161826 deg/s,
      cmd heading: 255.412711 deg,
      new cmd heading: 255.595805 deg.

2025-06-27T19:46:02.454Z,1751053562.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.460989 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:02.668Z,1751053562.668 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.988963
2025-06-27T19:46:02.882Z,1751053562.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:02.900Z,1751053562.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 24.701500 m,
      bearing: 264.540479 deg,
      approach rate: -0.697855 m/s,
      LOS rate: 0.169532 deg/s,
      cmd heading: 255.595815 deg,
      new cmd heading: 255.811591 deg.

2025-06-27T19:46:02.908Z,1751053562.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464755 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:02.922Z,1751053562.922 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.242412
2025-06-27T19:46:03.171Z,1751053563.171 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.492460
2025-06-27T19:46:03.335Z,1751053563.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:03.337Z,1751053563.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 24.368444 m,
      bearing: 264.630563 deg,
      approach rate: -0.717245 m/s,
      LOS rate: 0.196649 deg/s,
      cmd heading: 255.811594 deg,
      new cmd heading: 256.085536 deg.

2025-06-27T19:46:03.338Z,1751053563.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469536 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:03.424Z,1751053563.424 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.744809
2025-06-27T19:46:03.675Z,1751053563.675 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.996389
2025-06-27T19:46:03.686Z,1751053563.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:03.688Z,1751053563.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:03.696Z,1751053563.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 24.129065 m,
      bearing: 264.696091 deg,
      approach rate: -0.675978 m/s,
      LOS rate: 0.186880 deg/s,
      cmd heading: 256.085539 deg,
      new cmd heading: 256.284074 deg.

2025-06-27T19:46:03.697Z,1751053563.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473001 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:03.932Z,1751053563.932 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.251960
2025-06-27T19:46:04.105Z,1751053564.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:04.112Z,1751053564.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 23.843307 m,
      bearing: 264.773566 deg,
      approach rate: -0.685779 m/s,
      LOS rate: 0.188157 deg/s,
      cmd heading: 256.284079 deg,
      new cmd heading: 256.519287 deg.

2025-06-27T19:46:04.113Z,1751053564.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477106 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:04.180Z,1751053564.180 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.501004
2025-06-27T19:46:04.431Z,1751053564.431 [DAT](INFO): DAT read: Rx Time:19:46:02.8581

2025-06-27T19:46:04.432Z,1751053564.432 [DAT](INFO): Rx dataTimestamp_ set to:1751053564.431673
2025-06-27T19:46:04.432Z,1751053564.432 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.753485
2025-06-27T19:46:04.483Z,1751053564.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:04.486Z,1751053564.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 23.572750 m,
      bearing: 264.847379 deg,
      approach rate: -0.724514 m/s,
      LOS rate: 0.199930 deg/s,
      cmd heading: 256.519284 deg,
      new cmd heading: 256.743264 deg.

2025-06-27T19:46:04.491Z,1751053564.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481015 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:04.683Z,1751053564.683 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.004411
2025-06-27T19:46:04.846Z,1751053564.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.76 m.
2025-06-27T19:46:04.849Z,1751053564.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.763311 m,
      nav range: 23.308325 m,
      bearing: 264.919676 deg,
      approach rate: -0.719495 m/s,
      LOS rate: 0.198951 deg/s,
      cmd heading: 256.743259 deg,
      new cmd heading: 256.962611 deg.

2025-06-27T19:46:04.850Z,1751053564.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484844 target range: 25.763311 and range: 26.00 m.
2025-06-27T19:46:04.942Z,1751053564.942 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.258766
2025-06-27T19:46:05.193Z,1751053565.193 [DAT](INFO): DAT read: 19:46:02.8581 LVL= 20336, 32753, 20050, 32755, AGC= 58, IDX= 413,-0.12,-1.725, 3.085,-1.914,-2.181, PHS= 0.545,-0.970, 0.264, RAW= 140.0,   2.3, CAL= 144.2,  -6.1, ROT=   5.8,   6.1

2025-06-27T19:46:05.194Z,1751053565.194 [DAT](INFO): got valid direction response:
 19:46:02.8581 LVL= 20336, 32753, 20050, 32755, AGC= 58, IDX= 413,-0.12,-1.725, 3.085,-1.914,-2.181, PHS= 0.545,-0.970, 0.264, RAW= 140.0,   2.3, CAL= 144.2,  -6.1, ROT=   5.8,   6.1

2025-06-27T19:46:05.195Z,1751053565.195 [DAT](INFO): DAT read: Bearing   5.8,   6.1 (Local)

2025-06-27T19:46:05.196Z,1751053565.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,   6.1 (Local)

2025-06-27T19:46:05.198Z,1751053565.198 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m  (Round-trip  31.3 ms) speed  0.7 m/s

2025-06-27T19:46:05.201Z,1751053565.201 [DAT](INFO): DAT read: user:2740>

2025-06-27T19:46:05.203Z,1751053565.203 [DAT](INFO): DAT read: Tx time:19:46:03.9710

2025-06-27T19:46:05.203Z,1751053565.203 [DAT](INFO): Ping request sent.
2025-06-27T19:46:05.204Z,1751053565.204 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:05.204Z,1751053565.204 [DAT](INFO): DAT read: TxSync time:19:46:03.9703

2025-06-27T19:46:05.205Z,1751053565.205 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-06-27T19:46:05.206Z,1751053565.206 [DAT](INFO): direction in FSK: [0.989248,0.100484,-0.106264]
2025-06-27T19:46:05.206Z,1751053565.206 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:05.206Z,1751053565.206 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:05.210Z,1751053565.210 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:05.210Z,1751053565.210 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:05.214Z,1751053565.214 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.010060
2025-06-27T19:46:05.372Z,1751053565.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 3.527653 s,
      deltaX: -2.600000 m,
      approachRate: -0.737034 m/s,
      rangeRepo size: 4

2025-06-27T19:46:05.378Z,1751053565.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.186935 m,
      bearing: 262.302327 deg,
      lat: 36.906852 deg,
      lon: -122.116492 deg,
      deltaT: 3.527653 s,
      deltaX: -2.576376 m,
      approachRate: -0.730337 m/s,
      posRepo size: 4

2025-06-27T19:46:05.379Z,1751053565.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:05.382Z,1751053565.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 23.006367 m,
      bearing: 265.034540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.198951 deg/s,
      cmd heading: 256.962618 deg,
      new cmd heading: 257.276264 deg.

2025-06-27T19:46:05.384Z,1751053565.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490318 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:05.448Z,1751053565.448 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.244566
2025-06-27T19:46:05.667Z,1751053565.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:05.670Z,1751053565.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 22.778879 m,
      bearing: 265.106468 deg,
      approach rate: -0.772451 m/s,
      LOS rate: 0.246675 deg/s,
      cmd heading: 257.276260 deg,
      new cmd heading: 257.494197 deg.

2025-06-27T19:46:05.671Z,1751053565.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494122 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:05.699Z,1751053565.699 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.495752
2025-06-27T19:46:05.954Z,1751053565.954 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.750067
2025-06-27T19:46:06.097Z,1751053566.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:06.100Z,1751053566.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:06.103Z,1751053566.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 22.481710 m,
      bearing: 265.194730 deg,
      approach rate: -0.685544 m/s,
      LOS rate: 0.206305 deg/s,
      cmd heading: 257.494198 deg,
      new cmd heading: 257.762482 deg.

2025-06-27T19:46:06.104Z,1751053566.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498804 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:06.204Z,1751053566.204 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.000003
2025-06-27T19:46:06.455Z,1751053566.455 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.251577
2025-06-27T19:46:06.474Z,1751053566.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:06.477Z,1751053566.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 22.220573 m,
      bearing: 265.272849 deg,
      approach rate: -0.697448 m/s,
      LOS rate: 0.211093 deg/s,
      cmd heading: 257.762487 deg,
      new cmd heading: 257.999597 deg.

2025-06-27T19:46:06.478Z,1751053566.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502943 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:06.709Z,1751053566.709 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.505051
2025-06-27T19:46:06.962Z,1751053566.962 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.757748
2025-06-27T19:46:07.012Z,1751053567.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:07.025Z,1751053567.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 21.886917 m,
      bearing: 265.375394 deg,
      approach rate: -0.620277 m/s,
      LOS rate: 0.193540 deg/s,
      cmd heading: 257.999604 deg,
      new cmd heading: 258.311926 deg.

2025-06-27T19:46:07.026Z,1751053567.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508394 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:07.212Z,1751053567.212 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.008149
2025-06-27T19:46:07.384Z,1751053567.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:07.402Z,1751053567.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 21.594521 m,
      bearing: 265.461427 deg,
      approach rate: -0.786843 m/s,
      LOS rate: 0.234652 deg/s,
      cmd heading: 258.311935 deg,
      new cmd heading: 258.573528 deg.

2025-06-27T19:46:07.403Z,1751053567.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512959 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:07.464Z,1751053567.464 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.260205
2025-06-27T19:46:07.715Z,1751053567.715 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.511684
2025-06-27T19:46:07.755Z,1751053567.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:07.757Z,1751053567.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 21.340515 m,
      bearing: 265.534937 deg,
      approach rate: -0.684726 m/s,
      LOS rate: 0.200521 deg/s,
      cmd heading: 258.573531 deg,
      new cmd heading: 258.796686 deg.

2025-06-27T19:46:07.759Z,1751053567.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516854 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:07.971Z,1751053567.971 [DAT](INFO): DAT read: Rx Time:19:46:06.4031

2025-06-27T19:46:07.972Z,1751053567.972 [DAT](INFO): Rx dataTimestamp_ set to:1751053567.971165
2025-06-27T19:46:07.974Z,1751053567.974 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.769813
2025-06-27T19:46:08.182Z,1751053568.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:08.184Z,1751053568.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:08.187Z,1751053568.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 21.050209 m,
      bearing: 265.599326 deg,
      approach rate: -0.675399 m/s,
      LOS rate: 0.151867 deg/s,
      cmd heading: 258.796687 deg,
      new cmd heading: 258.992517 deg.

2025-06-27T19:46:08.188Z,1751053568.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520272 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:08.220Z,1751053568.220 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.016026
2025-06-27T19:46:08.471Z,1751053568.471 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.267797
2025-06-27T19:46:08.575Z,1751053568.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.19 m.
2025-06-27T19:46:08.578Z,1751053568.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.186935 m,
      nav range: 20.785753 m,
      bearing: 265.656077 deg,
      approach rate: -0.676396 m/s,
      LOS rate: 0.146998 deg/s,
      cmd heading: 258.992522 deg,
      new cmd heading: 259.164941 deg.

2025-06-27T19:46:08.580Z,1751053568.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523282 target range: 23.186935 and range: 23.40 m.
2025-06-27T19:46:08.730Z,1751053568.730 [DAT](INFO): DAT read: 19:46:06.4031 LVL= 21936, 32753, 22194, 32755, AGC= 58, IDX= 409, 0.41, 2.111, 0.626, 2.051, 1.642, PHS= 0.557,-0.969, 0.406, RAW= 144.9,   0.1, CAL= 148.7,  -8.9, ROT=   1.3,   8.9

2025-06-27T19:46:08.731Z,1751053568.731 [DAT](INFO): got valid direction response:
 19:46:06.4031 LVL= 21936, 32753, 22194, 32755, AGC= 58, IDX= 409, 0.41, 2.111, 0.626, 2.051, 1.642, PHS= 0.557,-0.969, 0.406, RAW= 144.9,   0.1, CAL= 148.7,  -8.9, ROT=   1.3,   8.9

2025-06-27T19:46:08.732Z,1751053568.732 [DAT](INFO): DAT read: Bearing   1.3,   8.9 (Local)

2025-06-27T19:46:08.732Z,1751053568.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,   8.9 (Local)

2025-06-27T19:46:08.734Z,1751053568.734 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m  (Round-trip  27.9 ms) speed  0.6 m/s

2025-06-27T19:46:08.735Z,1751053568.735 [DAT](INFO): DAT read: user:2741>

2025-06-27T19:46:08.735Z,1751053568.735 [DAT](INFO): DAT read: Tx time:19:46:07.5210

2025-06-27T19:46:08.736Z,1751053568.736 [DAT](INFO): Ping request sent.
2025-06-27T19:46:08.736Z,1751053568.736 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:08.736Z,1751053568.736 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-06-27T19:46:08.737Z,1751053568.737 [DAT](INFO): direction in FSK: [0.987706,0.022414,-0.154710]
2025-06-27T19:46:08.737Z,1751053568.737 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:08.738Z,1751053568.738 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:08.741Z,1751053568.741 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:08.741Z,1751053568.741 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:08.744Z,1751053568.744 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.008495
2025-06-27T19:46:08.978Z,1751053568.978 [DAT](INFO): DAT read: TxSync time:19:46:07.5203

2025-06-27T19:46:08.981Z,1751053568.981 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.244561
2025-06-27T19:46:09.047Z,1751053569.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 3.536396 s,
      deltaX: -2.500000 m,
      approachRate: -0.706934 m/s,
      rangeRepo size: 4

2025-06-27T19:46:09.049Z,1751053569.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.709677 m,
      bearing: 260.054765 deg,
      lat: 36.906844 deg,
      lon: -122.116492 deg,
      deltaT: 3.536396 s,
      deltaX: -2.477259 m,
      approachRate: -0.700504 m/s,
      posRepo size: 4

2025-06-27T19:46:09.050Z,1751053569.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:09.056Z,1751053569.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 20.529215 m,
      bearing: 263.204291 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146998 deg/s,
      cmd heading: 259.164944 deg,
      new cmd heading: 259.370705 deg.

2025-06-27T19:46:09.058Z,1751053569.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526873 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:09.227Z,1751053569.227 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.491564
2025-06-27T19:46:09.406Z,1751053569.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:09.413Z,1751053569.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 20.284193 m,
      bearing: 263.215890 deg,
      approach rate: -0.673361 m/s,
      LOS rate: 0.032261 deg/s,
      cmd heading: 259.370696 deg,
      new cmd heading: 259.405914 deg.

2025-06-27T19:46:09.414Z,1751053569.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527487 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:09.479Z,1751053569.479 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.743482
2025-06-27T19:46:09.731Z,1751053569.731 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.995421
2025-06-27T19:46:09.786Z,1751053569.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:09.793Z,1751053569.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 20.017979 m,
      bearing: 263.226095 deg,
      approach rate: -0.700839 m/s,
      LOS rate: 0.027223 deg/s,
      cmd heading: 259.405913 deg,
      new cmd heading: 259.436935 deg.

2025-06-27T19:46:09.794Z,1751053569.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528028 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:09.986Z,1751053569.986 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.249562
2025-06-27T19:46:10.199Z,1751053570.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:10.201Z,1751053570.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:10.204Z,1751053570.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 19.727816 m,
      bearing: 263.228803 deg,
      approach rate: -0.698542 m/s,
      LOS rate: 0.006617 deg/s,
      cmd heading: 259.436922 deg,
      new cmd heading: 259.445167 deg.

2025-06-27T19:46:10.205Z,1751053570.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528172 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:10.236Z,1751053570.236 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.499985
2025-06-27T19:46:10.487Z,1751053570.487 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.751388
2025-06-27T19:46:10.587Z,1751053570.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:10.590Z,1751053570.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 19.462585 m,
      bearing: 263.227898 deg,
      approach rate: -0.686803 m/s,
      LOS rate: -0.002376 deg/s,
      cmd heading: 259.445173 deg,
      new cmd heading: 259.442420 deg.

2025-06-27T19:46:10.607Z,1751053570.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528124 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:10.739Z,1751053570.739 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.003485
2025-06-27T19:46:10.995Z,1751053570.995 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.258124
2025-06-27T19:46:11.065Z,1751053571.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:11.072Z,1751053571.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 19.139900 m,
      bearing: 263.222941 deg,
      approach rate: -0.674841 m/s,
      LOS rate: -0.010541 deg/s,
      cmd heading: 259.442413 deg,
      new cmd heading: 259.427293 deg.

2025-06-27T19:46:11.073Z,1751053571.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527861 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:11.243Z,1751053571.243 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.507431
2025-06-27T19:46:11.446Z,1751053571.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:11.453Z,1751053571.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 18.881399 m,
      bearing: 263.211414 deg,
      approach rate: -0.679131 m/s,
      LOS rate: -0.030700 deg/s,
      cmd heading: 259.427305 deg,
      new cmd heading: 259.392248 deg.

2025-06-27T19:46:11.454Z,1751053571.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527249 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:11.496Z,1751053571.496 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.759745
2025-06-27T19:46:11.747Z,1751053571.747 [DAT](INFO): DAT read: Rx Time:19:46:09.9499

2025-06-27T19:46:11.748Z,1751053571.748 [DAT](INFO): Rx dataTimestamp_ set to:1751053571.747569
2025-06-27T19:46:11.748Z,1751053571.748 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.012517
2025-06-27T19:46:11.817Z,1751053571.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.71 m.
2025-06-27T19:46:11.829Z,1751053571.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.709677 m,
      nav range: 18.619406 m,
      bearing: 263.196669 deg,
      approach rate: -0.706995 m/s,
      LOS rate: -0.040348 deg/s,
      cmd heading: 259.392252 deg,
      new cmd heading: 259.347397 deg.

2025-06-27T19:46:11.839Z,1751053571.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526466 target range: 20.709677 and range: 20.90 m.
2025-06-27T19:46:12.000Z,1751053572.000 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.264128
2025-06-27T19:46:12.257Z,1751053572.257 [DAT](INFO): DAT read: 19:46:09.9499 LVL= 23632, 32753, 19650, 32755, AGC= 58, IDX= 409, 0.08, 1.593, 0.241, 1.728, 1.249, PHS= 0.432,-0.960, 0.476, RAW= 151.5,   0.7, CAL= 154.4,  -8.1, ROT= 355.6,   8.1

2025-06-27T19:46:12.259Z,1751053572.259 [DAT](INFO): got valid direction response:
 19:46:09.9499 LVL= 23632, 32753, 19650, 32755, AGC= 58, IDX= 409, 0.08, 1.593, 0.241, 1.728, 1.249, PHS= 0.432,-0.960, 0.476, RAW= 151.5,   0.7, CAL= 154.4,  -8.1, ROT= 355.6,   8.1

2025-06-27T19:46:12.260Z,1751053572.260 [DAT](INFO): DAT read: Bearing 355.6,   8.1 (Local)

2025-06-27T19:46:12.260Z,1751053572.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,   8.1 (Local)

2025-06-27T19:46:12.261Z,1751053572.261 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m  (Round-trip  24.7 ms) speed  0.5 m/s

2025-06-27T19:46:12.262Z,1751053572.262 [DAT](INFO): DAT read: user:2742>

2025-06-27T19:46:12.263Z,1751053572.263 [DAT](INFO): DAT read: Tx time:19:46:11.0710

2025-06-27T19:46:12.263Z,1751053572.263 [DAT](INFO): Ping request sent.
2025-06-27T19:46:12.263Z,1751053572.263 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:12.264Z,1751053572.264 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-06-27T19:46:12.265Z,1751053572.265 [DAT](INFO): direction in FSK: [0.987106,-0.075954,-0.140901]
2025-06-27T19:46:12.265Z,1751053572.265 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:12.265Z,1751053572.265 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:12.277Z,1751053572.277 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:12.277Z,1751053572.277 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:12.288Z,1751053572.288 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.024819
2025-06-27T19:46:12.292Z,1751053572.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 3.527692 s,
      deltaX: -2.400000 m,
      approachRate: -0.680331 m/s,
      rangeRepo size: 4

2025-06-27T19:46:12.294Z,1751053572.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.331509 m,
      bearing: 255.981982 deg,
      lat: 36.906842 deg,
      lon: -122.116492 deg,
      deltaT: 3.527692 s,
      deltaX: -2.378168 m,
      approachRate: -0.674143 m/s,
      posRepo size: 4

2025-06-27T19:46:12.302Z,1751053572.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:12.309Z,1751053572.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 18.316645 m,
      bearing: 262.531022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040348 deg/s,
      cmd heading: 259.347392 deg,
      new cmd heading: 259.289912 deg.

2025-06-27T19:46:12.310Z,1751053572.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525463 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:12.505Z,1751053572.505 [DAT](INFO): DAT read: TxSync time:19:46:11.0703

2025-06-27T19:46:12.507Z,1751053572.507 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.243608
2025-06-27T19:46:12.675Z,1751053572.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:12.678Z,1751053572.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 18.046703 m,
      bearing: 262.500967 deg,
      approach rate: -0.703201 m/s,
      LOS rate: -0.079465 deg/s,
      cmd heading: 259.289909 deg,
      new cmd heading: 259.198395 deg.

2025-06-27T19:46:12.683Z,1751053572.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523865 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:12.756Z,1751053572.756 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.492048
2025-06-27T19:46:13.012Z,1751053573.012 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.747755
2025-06-27T19:46:13.087Z,1751053573.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:13.089Z,1751053573.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:13.092Z,1751053573.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 17.751116 m,
      bearing: 262.462914 deg,
      approach rate: -0.714238 m/s,
      LOS rate: -0.093479 deg/s,
      cmd heading: 259.198384 deg,
      new cmd heading: 259.082325 deg.

2025-06-27T19:46:13.093Z,1751053573.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521840 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:13.259Z,1751053573.259 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.995787
2025-06-27T19:46:13.469Z,1751053573.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:13.476Z,1751053573.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 17.498449 m,
      bearing: 262.435066 deg,
      approach rate: -0.665211 m/s,
      LOS rate: -0.074376 deg/s,
      cmd heading: 259.082326 deg,
      new cmd heading: 258.997575 deg.

2025-06-27T19:46:13.477Z,1751053573.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520360 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:13.511Z,1751053573.511 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.247912
2025-06-27T19:46:13.763Z,1751053573.763 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.499902
2025-06-27T19:46:13.853Z,1751053573.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:13.856Z,1751053573.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 17.220816 m,
      bearing: 262.403523 deg,
      approach rate: -0.723057 m/s,
      LOS rate: -0.083473 deg/s,
      cmd heading: 258.997577 deg,
      new cmd heading: 258.901423 deg.

2025-06-27T19:46:13.857Z,1751053573.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518682 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:14.019Z,1751053574.019 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.754538
2025-06-27T19:46:14.253Z,1751053574.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:14.256Z,1751053574.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 16.940056 m,
      bearing: 262.379953 deg,
      approach rate: -0.702170 m/s,
      LOS rate: -0.059926 deg/s,
      cmd heading: 258.901435 deg,
      new cmd heading: 258.829552 deg.

2025-06-27T19:46:14.257Z,1751053574.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517428 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:14.268Z,1751053574.268 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.004191
2025-06-27T19:46:14.519Z,1751053574.519 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.255854
2025-06-27T19:46:14.630Z,1751053574.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:14.633Z,1751053574.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 16.675419 m,
      bearing: 262.355626 deg,
      approach rate: -0.701070 m/s,
      LOS rate: -0.065468 deg/s,
      cmd heading: 258.829554 deg,
      new cmd heading: 258.755416 deg.

2025-06-27T19:46:14.634Z,1751053574.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516134 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:14.773Z,1751053574.773 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.509109
2025-06-27T19:46:15.024Z,1751053575.024 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.760564
2025-06-27T19:46:15.109Z,1751053575.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:15.115Z,1751053575.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:15.118Z,1751053575.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 16.374207 m,
      bearing: 262.325748 deg,
      approach rate: -0.621008 m/s,
      LOS rate: -0.062733 deg/s,
      cmd heading: 258.755406 deg,
      new cmd heading: 258.664122 deg.

2025-06-27T19:46:15.123Z,1751053575.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514541 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:15.275Z,1751053575.275 [DAT](INFO): DAT read: Rx Time:19:46:13.4967

2025-06-27T19:46:15.276Z,1751053575.276 [DAT](INFO): Rx dataTimestamp_ set to:1751053575.275607
2025-06-27T19:46:15.276Z,1751053575.276 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.012940
2025-06-27T19:46:15.456Z,1751053575.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.33 m.
2025-06-27T19:46:15.459Z,1751053575.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.331509 m,
      nav range: 16.096775 m,
      bearing: 262.299418 deg,
      approach rate: -0.813220 m/s,
      LOS rate: -0.078509 deg/s,
      cmd heading: 258.664127 deg,
      new cmd heading: 258.583777 deg.

2025-06-27T19:46:15.460Z,1751053575.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513138 target range: 18.331509 and range: 18.50 m.
2025-06-27T19:46:15.528Z,1751053575.528 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.264491
2025-06-27T19:46:15.785Z,1751053575.785 [DAT](INFO): DAT read: 19:46:13.4967 LVL= 21664, 32753, 17026, 30771, AGC= 56, IDX= 408,-0.02,-0.984,-2.357,-0.653,-1.241, PHS= 0.345,-1.070, 0.584, RAW= 157.7,   1.8, CAL= 159.5,  -7.0, ROT= 350.5,   7.0

2025-06-27T19:46:15.787Z,1751053575.787 [DAT](INFO): got valid direction response:
 19:46:13.4967 LVL= 21664, 32753, 17026, 30771, AGC= 56, IDX= 408,-0.02,-0.984,-2.357,-0.653,-1.241, PHS= 0.345,-1.070, 0.584, RAW= 157.7,   1.8, CAL= 159.5,  -7.0, ROT= 350.5,   7.0

2025-06-27T19:46:15.788Z,1751053575.788 [DAT](INFO): DAT read: Bearing 350.5,   7.0 (Local)

2025-06-27T19:46:15.788Z,1751053575.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.5,   7.0 (Local)

2025-06-27T19:46:15.789Z,1751053575.789 [DAT](INFO): DAT read: Range 10 to 50 : 16.0 m  (Round-trip  21.4 ms) speed  0.6 m/s

2025-06-27T19:46:15.790Z,1751053575.790 [DAT](INFO): DAT read: user:2743>

2025-06-27T19:46:15.791Z,1751053575.791 [DAT](INFO): DAT read: Tx time:19:46:14.6211

2025-06-27T19:46:15.791Z,1751053575.791 [DAT](INFO): Ping request sent.
2025-06-27T19:46:15.791Z,1751053575.791 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:15.792Z,1751053575.792 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-06-27T19:46:15.793Z,1751053575.793 [DAT](INFO): direction in FSK: [0.978934,-0.163817,-0.121869]
2025-06-27T19:46:15.793Z,1751053575.793 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:15.793Z,1751053575.793 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:15.796Z,1751053575.796 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:15.797Z,1751053575.797 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:15.800Z,1751053575.800 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.008494
2025-06-27T19:46:15.951Z,1751053575.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.000000 m,
      deltaT: 3.528107 s,
      deltaX: -2.500000 m,
      approachRate: -0.708595 m/s,
      rangeRepo size: 4

2025-06-27T19:46:15.953Z,1751053575.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.854254 m,
      bearing: 251.617554 deg,
      lat: 36.906824 deg,
      lon: -122.116489 deg,
      deltaT: 3.528107 s,
      deltaX: -2.477255 m,
      approachRate: -0.702148 m/s,
      posRepo size: 4

2025-06-27T19:46:15.953Z,1751053575.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:15.960Z,1751053575.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 15.958623 m,
      bearing: 254.916391 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078509 deg/s,
      cmd heading: 258.583777 deg,
      new cmd heading: 258.468537 deg.

2025-06-27T19:46:15.961Z,1751053575.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511127 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:16.032Z,1751053576.032 [DAT](INFO): DAT read: TxSync time:19:46:14.6204

2025-06-27T19:46:16.034Z,1751053576.034 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.242047
2025-06-27T19:46:16.283Z,1751053576.283 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.492003
2025-06-27T19:46:16.387Z,1751053576.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:16.390Z,1751053576.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 15.630980 m,
      bearing: 254.737435 deg,
      approach rate: -0.742513 m/s,
      LOS rate: -0.414054 deg/s,
      cmd heading: 258.468538 deg,
      new cmd heading: 257.920435 deg.

2025-06-27T19:46:16.391Z,1751053576.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501561 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:16.536Z,1751053576.536 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.744407
2025-06-27T19:46:16.713Z,1751053576.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:16.732Z,1751053576.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 15.404885 m,
      bearing: 254.610089 deg,
      approach rate: -0.693198 m/s,
      LOS rate: -0.396168 deg/s,
      cmd heading: 257.920429 deg,
      new cmd heading: 257.532791 deg.

2025-06-27T19:46:16.733Z,1751053576.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494795 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:16.788Z,1751053576.788 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996910
2025-06-27T19:46:17.040Z,1751053577.040 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.248687
2025-06-27T19:46:17.189Z,1751053577.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:17.192Z,1751053577.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:17.231Z,1751053577.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 15.075087 m,
      bearing: 254.437543 deg,
      approach rate: -0.688951 m/s,
      LOS rate: -0.368336 deg/s,
      cmd heading: 257.532802 deg,
      new cmd heading: 257.003853 deg.

2025-06-27T19:46:17.232Z,1751053577.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485563 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:17.292Z,1751053577.292 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.500824
2025-06-27T19:46:17.544Z,1751053577.544 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.752134
2025-06-27T19:46:17.546Z,1751053577.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:17.549Z,1751053577.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 14.838326 m,
      bearing: 254.308216 deg,
      approach rate: -0.669262 m/s,
      LOS rate: -0.371408 deg/s,
      cmd heading: 257.003845 deg,
      new cmd heading: 256.609680 deg.

2025-06-27T19:46:17.549Z,1751053577.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.478684 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:17.795Z,1751053577.795 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.003962
2025-06-27T19:46:17.917Z,1751053577.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:17.920Z,1751053577.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 14.570697 m,
      bearing: 254.156331 deg,
      approach rate: -0.721280 m/s,
      LOS rate: -0.416859 deg/s,
      cmd heading: 256.609688 deg,
      new cmd heading: 256.145674 deg.

2025-06-27T19:46:17.921Z,1751053577.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470585 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:18.047Z,1751053578.047 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.255962
2025-06-27T19:46:18.299Z,1751053578.299 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.508109
2025-06-27T19:46:18.503Z,1751053578.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:18.507Z,1751053578.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 14.191445 m,
      bearing: 253.942280 deg,
      approach rate: -0.646417 m/s,
      LOS rate: -0.374588 deg/s,
      cmd heading: 256.145672 deg,
      new cmd heading: 255.486391 deg.

2025-06-27T19:46:18.509Z,1751053578.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459079 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:18.552Z,1751053578.552 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.760604
2025-06-27T19:46:18.788Z,1751053578.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:18.791Z,1751053578.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 13.972038 m,
      bearing: 253.814218 deg,
      approach rate: -0.769906 m/s,
      LOS rate: -0.456431 deg/s,
      cmd heading: 255.486395 deg,
      new cmd heading: 255.096182 deg.

2025-06-27T19:46:18.792Z,1751053578.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452268 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:18.803Z,1751053578.803 [DAT](INFO): DAT read: Rx Time:19:46:17.0433

2025-06-27T19:46:18.804Z,1751053578.804 [DAT](INFO): Rx dataTimestamp_ set to:1751053578.803649
2025-06-27T19:46:18.804Z,1751053578.804 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.013127
2025-06-27T19:46:19.055Z,1751053579.055 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.264026
2025-06-27T19:46:19.229Z,1751053579.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:19.231Z,1751053579.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.85 m.
2025-06-27T19:46:19.234Z,1751053579.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.854254 m,
      nav range: 13.656639 m,
      bearing: 253.621423 deg,
      approach rate: -0.711962 m/s,
      LOS rate: -0.445254 deg/s,
      cmd heading: 255.096173 deg,
      new cmd heading: 254.504452 deg.

2025-06-27T19:46:19.235Z,1751053579.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441941 target range: 15.854254 and range: 16.00 m.
2025-06-27T19:46:19.317Z,1751053579.317 [DAT](INFO): DAT read: 19:46:17.0433 LVL= 21840, 31441, 14114, 28371, AGC= 54, IDX= 405, 0.07, 3.128, 1.761,-2.764, 2.917, PHS= 0.299,-1.108, 0.600, RAW= 159.5,   2.7, CAL= 160.8,  -6.3, ROT= 349.2,   6.3

2025-06-27T19:46:19.318Z,1751053579.318 [DAT](INFO): got valid direction response:
 19:46:17.0433 LVL= 21840, 31441, 14114, 28371, AGC= 54, IDX= 405, 0.07, 3.128, 1.761,-2.764, 2.917, PHS= 0.299,-1.108, 0.600, RAW= 159.5,   2.7, CAL= 160.8,  -6.3, ROT= 349.2,   6.3

2025-06-27T19:46:19.328Z,1751053579.328 [DAT](INFO): DAT read: Bearing 349.2,   6.3 (Local)

2025-06-27T19:46:19.328Z,1751053579.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   6.3 (Local)

2025-06-27T19:46:19.330Z,1751053579.330 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m  (Round-trip  18.0 ms) speed  0.6 m/s

2025-06-27T19:46:19.332Z,1751053579.332 [DAT](INFO): DAT read: user:2744>

2025-06-27T19:46:19.333Z,1751053579.333 [DAT](INFO): DAT read: Tx time:19:46:18.1711

2025-06-27T19:46:19.333Z,1751053579.333 [DAT](INFO): Ping request sent.
2025-06-27T19:46:19.333Z,1751053579.333 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:19.333Z,1751053579.333 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-06-27T19:46:19.339Z,1751053579.339 [DAT](INFO): direction in FSK: [0.976355,-0.186250,-0.109734]
2025-06-27T19:46:19.340Z,1751053579.340 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:19.340Z,1751053579.340 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:19.357Z,1751053579.357 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:19.357Z,1751053579.357 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:19.368Z,1751053579.368 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.035214
2025-06-27T19:46:19.559Z,1751053579.559 [DAT](INFO): DAT read: TxSync time:19:46:18.1704

2025-06-27T19:46:19.560Z,1751053579.560 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.226948
2025-06-27T19:46:19.608Z,1751053579.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 3.528697 s,
      deltaX: -2.500000 m,
      approachRate: -0.708477 m/s,
      rangeRepo size: 4

2025-06-27T19:46:19.615Z,1751053579.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.377041 m,
      bearing: 249.742747 deg,
      lat: 36.906824 deg,
      lon: -122.116486 deg,
      deltaT: 3.528697 s,
      deltaX: -2.477213 m,
      approachRate: -0.702019 m/s,
      posRepo size: 4

2025-06-27T19:46:19.615Z,1751053579.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:19.618Z,1751053579.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 13.161117 m,
      bearing: 253.027823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.445254 deg/s,
      cmd heading: 254.504460 deg,
      new cmd heading: 254.001808 deg.

2025-06-27T19:46:19.623Z,1751053579.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433168 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:19.811Z,1751053579.811 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.478210
2025-06-27T19:46:19.995Z,1751053579.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:20.020Z,1751053580.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 12.882986 m,
      bearing: 252.839842 deg,
      approach rate: -0.719135 m/s,
      LOS rate: -0.496535 deg/s,
      cmd heading: 254.001813 deg,
      new cmd heading: 253.425716 deg.

2025-06-27T19:46:20.021Z,1751053580.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423113 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:20.063Z,1751053580.063 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.730173
2025-06-27T19:46:20.315Z,1751053580.315 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.982115
2025-06-27T19:46:20.441Z,1751053580.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:20.444Z,1751053580.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 12.570185 m,
      bearing: 252.631033 deg,
      approach rate: -0.700688 m/s,
      LOS rate: -0.479380 deg/s,
      cmd heading: 253.425727 deg,
      new cmd heading: 252.783739 deg.

2025-06-27T19:46:20.445Z,1751053580.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411909 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:20.569Z,1751053580.569 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.235674
2025-06-27T19:46:20.800Z,1751053580.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:20.803Z,1751053580.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 12.319744 m,
      bearing: 252.461422 deg,
      approach rate: -0.697086 m/s,
      LOS rate: -0.481697 deg/s,
      cmd heading: 252.783744 deg,
      new cmd heading: 252.264583 deg.

2025-06-27T19:46:20.804Z,1751053580.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.402848 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:20.822Z,1751053580.822 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.489259
2025-06-27T19:46:21.071Z,1751053581.071 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.738072
2025-06-27T19:46:21.240Z,1751053581.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:21.242Z,1751053581.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:21.245Z,1751053581.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 12.020871 m,
      bearing: 252.250095 deg,
      approach rate: -0.676186 m/s,
      LOS rate: -0.490005 deg/s,
      cmd heading: 252.264595 deg,
      new cmd heading: 251.614879 deg.

2025-06-27T19:46:21.246Z,1751053581.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391508 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:21.324Z,1751053581.324 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.990774
2025-06-27T19:46:21.575Z,1751053581.575 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.242016
2025-06-27T19:46:21.627Z,1751053581.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:21.629Z,1751053581.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 11.773789 m,
      bearing: 252.072765 deg,
      approach rate: -0.649395 m/s,
      LOS rate: -0.475848 deg/s,
      cmd heading: 251.614880 deg,
      new cmd heading: 251.071745 deg.

2025-06-27T19:46:21.635Z,1751053581.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.382029 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:21.827Z,1751053581.827 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.494117
2025-06-27T19:46:22.024Z,1751053582.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:22.028Z,1751053582.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 11.494188 m,
      bearing: 251.870406 deg,
      approach rate: -0.696247 m/s,
      LOS rate: -0.516160 deg/s,
      cmd heading: 251.071743 deg,
      new cmd heading: 250.449925 deg.

2025-06-27T19:46:22.029Z,1751053582.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371176 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:22.080Z,1751053582.080 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.747216
2025-06-27T19:46:22.331Z,1751053582.331 [DAT](INFO): DAT read: Rx Time:19:46:20.5900

2025-06-27T19:46:22.332Z,1751053582.332 [DAT](INFO): Rx dataTimestamp_ set to:1751053582.331558
2025-06-27T19:46:22.332Z,1751053582.332 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.999199
2025-06-27T19:46:22.458Z,1751053582.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:22.461Z,1751053582.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 11.206892 m,
      bearing: 251.634874 deg,
      approach rate: -0.668002 m/s,
      LOS rate: -0.561682 deg/s,
      cmd heading: 250.449923 deg,
      new cmd heading: 249.725251 deg.

2025-06-27T19:46:22.466Z,1751053582.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358528 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:22.583Z,1751053582.583 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.250178
2025-06-27T19:46:22.814Z,1751053582.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.38 m.
2025-06-27T19:46:22.817Z,1751053582.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.377041 m,
      nav range: 10.954071 m,
      bearing: 251.426786 deg,
      approach rate: -0.702495 m/s,
      LOS rate: -0.591541 deg/s,
      cmd heading: 249.725240 deg,
      new cmd heading: 249.086598 deg.

2025-06-27T19:46:22.818Z,1751053582.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.347381 target range: 13.377041 and range: 13.50 m.
2025-06-27T19:46:22.862Z,1751053582.862 [DAT](INFO): DAT read: 19:46:20.5900 LVL= 22624, 30577, 14834, 28963, AGC= 57, IDX= 403,-0.08, 1.799, 0.443, 2.177, 1.600, PHS= 0.287,-1.110, 0.574, RAW= 159.1,   3.2, CAL= 160.4,  -5.8, ROT= 349.6,   5.8

2025-06-27T19:46:22.863Z,1751053582.863 [DAT](INFO): got valid direction response:
 19:46:20.5900 LVL= 22624, 30577, 14834, 28963, AGC= 57, IDX= 403,-0.08, 1.799, 0.443, 2.177, 1.600, PHS= 0.287,-1.110, 0.574, RAW= 159.1,   3.2, CAL= 160.4,  -5.8, ROT= 349.6,   5.8

2025-06-27T19:46:22.865Z,1751053582.865 [DAT](INFO): DAT read: Bearing 349.6,   5.8 (Local)

2025-06-27T19:46:22.865Z,1751053582.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.6,   5.8 (Local)

2025-06-27T19:46:22.879Z,1751053582.879 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m  (Round-trip  14.7 ms) speed  0.5 m/s

2025-06-27T19:46:22.880Z,1751053582.880 [DAT](INFO): DAT read: user:2745>

2025-06-27T19:46:22.881Z,1751053582.881 [DAT](INFO): DAT read: Tx time:19:46:21.7211

2025-06-27T19:46:22.881Z,1751053582.881 [DAT](INFO): Ping request sent.
2025-06-27T19:46:22.881Z,1751053582.881 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:22.882Z,1751053582.882 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-06-27T19:46:22.888Z,1751053582.888 [DAT](INFO): direction in FSK: [0.978536,-0.179595,-0.101056]
2025-06-27T19:46:22.888Z,1751053582.888 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:22.889Z,1751053582.889 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:22.901Z,1751053582.901 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:22.901Z,1751053582.901 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:22.931Z,1751053582.931 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.044865
2025-06-27T19:46:23.088Z,1751053583.088 [DAT](INFO): DAT read: TxSync time:19:46:21.7204

2025-06-27T19:46:23.088Z,1751053583.088 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.207051
2025-06-27T19:46:23.292Z,1751053583.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.000000 m,
      deltaT: 3.528423 s,
      deltaX: -2.500000 m,
      approachRate: -0.708532 m/s,
      rangeRepo size: 4

2025-06-27T19:46:23.299Z,1751053583.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.899829 m,
      bearing: 247.110857 deg,
      lat: 36.906817 deg,
      lon: -122.116486 deg,
      deltaT: 3.528423 s,
      deltaX: -2.477212 m,
      approachRate: -0.702073 m/s,
      posRepo size: 4

2025-06-27T19:46:23.299Z,1751053583.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:23.302Z,1751053583.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 10.860326 m,
      bearing: 247.204259 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.591541 deg/s,
      cmd heading: 249.086590 deg,
      new cmd heading: 248.239149 deg.

2025-06-27T19:46:23.307Z,1751053583.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332591 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:23.339Z,1751053583.339 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.458150
2025-06-27T19:46:23.594Z,1751053583.594 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.712385
2025-06-27T19:46:23.669Z,1751053583.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:23.672Z,1751053583.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:23.675Z,1751053583.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 10.590046 m,
      bearing: 246.888692 deg,
      approach rate: -0.711506 m/s,
      LOS rate: -0.851919 deg/s,
      cmd heading: 248.239155 deg,
      new cmd heading: 247.268392 deg.

2025-06-27T19:46:23.675Z,1751053583.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315648 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:23.843Z,1751053583.843 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.961949
2025-06-27T19:46:24.056Z,1751053584.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:24.076Z,1751053584.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 10.328000 m,
      bearing: 246.581298 deg,
      approach rate: -0.681839 m/s,
      LOS rate: -0.820126 deg/s,
      cmd heading: 247.268393 deg,
      new cmd heading: 246.322902 deg.

2025-06-27T19:46:24.077Z,1751053584.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299146 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:24.095Z,1751053584.095 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.214159
2025-06-27T19:46:24.347Z,1751053584.347 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.466091
2025-06-27T19:46:24.501Z,1751053584.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:24.503Z,1751053584.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 10.036076 m,
      bearing: 246.164152 deg,
      approach rate: -0.656609 m/s,
      LOS rate: -0.965544 deg/s,
      cmd heading: 246.322904 deg,
      new cmd heading: 245.035295 deg.

2025-06-27T19:46:24.504Z,1751053584.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276673 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:24.600Z,1751053584.600 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.718325
2025-06-27T19:46:24.852Z,1751053584.852 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.971070
2025-06-27T19:46:24.894Z,1751053584.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:24.897Z,1751053584.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 9.790029 m,
      bearing: 245.819839 deg,
      approach rate: -0.631406 m/s,
      LOS rate: -0.905778 deg/s,
      cmd heading: 245.035304 deg,
      new cmd heading: 243.976531 deg.

2025-06-27T19:46:24.898Z,1751053584.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258194 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:25.103Z,1751053585.103 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.222063
2025-06-27T19:46:25.321Z,1751053585.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:25.324Z,1751053585.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 9.497480 m,
      bearing: 245.429700 deg,
      approach rate: -0.679613 m/s,
      LOS rate: -0.934233 deg/s,
      cmd heading: 243.976543 deg,
      new cmd heading: 242.770262 deg.

2025-06-27T19:46:25.325Z,1751053585.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.237140 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:25.356Z,1751053585.356 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.474247
2025-06-27T19:46:25.607Z,1751053585.607 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.725978
2025-06-27T19:46:25.696Z,1751053585.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:25.700Z,1751053585.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:25.705Z,1751053585.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 9.262584 m,
      bearing: 245.115673 deg,
      approach rate: -0.621847 m/s,
      LOS rate: -0.852409 deg/s,
      cmd heading: 242.770249 deg,
      new cmd heading: 241.804374 deg.

2025-06-27T19:46:25.706Z,1751053585.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220283 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:25.859Z,1751053585.859 [DAT](INFO): DAT read: Rx Time:19:46:24.1369

2025-06-27T19:46:25.860Z,1751053585.860 [DAT](INFO): Rx dataTimestamp_ set to:1751053585.859680
2025-06-27T19:46:25.860Z,1751053585.860 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.979196
2025-06-27T19:46:26.087Z,1751053586.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.90 m.
2025-06-27T19:46:26.089Z,1751053586.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.899829 m,
      nav range: 8.994717 m,
      bearing: 244.759386 deg,
      approach rate: -0.690191 m/s,
      LOS rate: -0.945348 deg/s,
      cmd heading: 241.804379 deg,
      new cmd heading: 240.703828 deg.

2025-06-27T19:46:26.107Z,1751053586.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201074 target range: 10.899829 and range: 11.00 m.
2025-06-27T19:46:26.111Z,1751053586.111 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.230097
2025-06-27T19:46:26.369Z,1751053586.369 [DAT](INFO): DAT read: 19:46:24.1369 LVL= 24000, 32753, 17042, 32755, AGC= 55, IDX= 403,-0.37,-0.150,-1.531, 0.083,-0.349, PHS= 0.287,-1.135, 0.429, RAW= 154.7,   5.6, CAL= 155.7,  -3.5, ROT= 354.3,   3.5

2025-06-27T19:46:26.371Z,1751053586.371 [DAT](INFO): got valid direction response:
 19:46:24.1369 LVL= 24000, 32753, 17042, 32755, AGC= 55, IDX= 403,-0.37,-0.150,-1.531, 0.083,-0.349, PHS= 0.287,-1.135, 0.429, RAW= 154.7,   5.6, CAL= 155.7,  -3.5, ROT= 354.3,   3.5

2025-06-27T19:46:26.372Z,1751053586.372 [DAT](INFO): DAT read: Bearing 354.3,   3.5 (Local)

2025-06-27T19:46:26.372Z,1751053586.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.3,   3.5 (Local)

2025-06-27T19:46:26.373Z,1751053586.373 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m  (Round-trip  11.6 ms) speed  0.6 m/s

2025-06-27T19:46:26.374Z,1751053586.374 [DAT](INFO): DAT read: user:2746>

2025-06-27T19:46:26.379Z,1751053586.379 [DAT](INFO): DAT read: Tx time:19:46:25.2211

2025-06-27T19:46:26.379Z,1751053586.379 [DAT](INFO): Ping request sent.
2025-06-27T19:46:26.380Z,1751053586.380 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:26.380Z,1751053586.380 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-06-27T19:46:26.381Z,1751053586.381 [DAT](INFO): direction in FSK: [0.993200,-0.099135,-0.061049]
2025-06-27T19:46:26.381Z,1751053586.381 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:26.381Z,1751053586.381 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:26.385Z,1751053586.385 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:26.385Z,1751053586.385 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:26.389Z,1751053586.389 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.008922
2025-06-27T19:46:26.566Z,1751053586.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 3.526657 s,
      deltaX: -2.300000 m,
      approachRate: -0.652176 m/s,
      rangeRepo size: 4

2025-06-27T19:46:26.569Z,1751053586.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.620763 m,
      bearing: 246.204898 deg,
      lat: 36.906817 deg,
      lon: -122.116486 deg,
      deltaT: 3.526657 s,
      deltaX: -2.279066 m,
      approachRate: -0.646240 m/s,
      posRepo size: 4

2025-06-27T19:46:26.569Z,1751053586.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.62 m.
2025-06-27T19:46:26.570Z,1751053586.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.70 m.
2025-06-27T19:46:26.570Z,1751053586.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-06-27T19:46:26.577Z,1751053586.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 8.700959 m,
      bearing: 244.378282 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.945348 deg/s,
      cmd heading: 240.703817 deg,
      new cmd heading: 239.379759 deg.

2025-06-27T19:46:26.578Z,1751053586.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.177965 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:26.616Z,1751053586.616 [DAT](INFO): DAT read: TxSync time:19:46:25.2204

2025-06-27T19:46:26.616Z,1751053586.616 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.236774
2025-06-27T19:46:26.867Z,1751053586.867 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.487767
2025-06-27T19:46:26.890Z,1751053586.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:26.892Z,1751053586.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 8.471062 m,
      bearing: 244.085053 deg,
      approach rate: -0.684437 m/s,
      LOS rate: -0.896673 deg/s,
      cmd heading: 239.379771 deg,
      new cmd heading: 238.476287 deg.

2025-06-27T19:46:26.893Z,1751053586.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162196 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:27.119Z,1751053587.119 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.739731
2025-06-27T19:46:27.329Z,1751053587.329 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250501,35.0,  +9.9,   05,  0
2025-06-27T19:46:27.345Z,1751053587.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:27.348Z,1751053587.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 8.174448 m,
      bearing: 243.681886 deg,
      approach rate: -0.651746 m/s,
      LOS rate: -0.918011 deg/s,
      cmd heading: 238.476273 deg,
      new cmd heading: 237.223097 deg.

2025-06-27T19:46:27.349Z,1751053587.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140324 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:27.371Z,1751053587.371 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.991853
2025-06-27T19:46:27.623Z,1751053587.623 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.243719
2025-06-27T19:46:27.703Z,1751053587.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:27.705Z,1751053587.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:27.712Z,1751053587.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 7.947017 m,
      bearing: 243.396206 deg,
      approach rate: -0.631027 m/s,
      LOS rate: -0.815325 deg/s,
      cmd heading: 237.223098 deg,
      new cmd heading: 236.341603 deg.

2025-06-27T19:46:27.713Z,1751053587.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.124939 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:27.875Z,1751053587.875 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.495809
2025-06-27T19:46:28.109Z,1751053588.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:28.112Z,1751053588.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 7.674514 m,
      bearing: 243.031239 deg,
      approach rate: -0.674623 m/s,
      LOS rate: -0.935606 deg/s,
      cmd heading: 236.341593 deg,
      new cmd heading: 235.207972 deg.

2025-06-27T19:46:28.113Z,1751053588.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105154 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:28.130Z,1751053588.130 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.750826
2025-06-27T19:46:28.379Z,1751053588.379 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.999857
2025-06-27T19:46:28.521Z,1751053588.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:28.524Z,1751053588.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 7.400999 m,
      bearing: 242.707533 deg,
      approach rate: -0.664117 m/s,
      LOS rate: -0.815030 deg/s,
      cmd heading: 235.207973 deg,
      new cmd heading: 234.201073 deg.

2025-06-27T19:46:28.525Z,1751053588.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087580 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:28.632Z,1751053588.632 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.252513
2025-06-27T19:46:28.883Z,1751053588.883 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.503873
2025-06-27T19:46:28.912Z,1751053588.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:28.915Z,1751053588.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 7.141542 m,
      bearing: 242.408693 deg,
      approach rate: -0.665669 m/s,
      LOS rate: -0.794562 deg/s,
      cmd heading: 234.201067 deg,
      new cmd heading: 233.272063 deg.

2025-06-27T19:46:28.916Z,1751053588.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.071365 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:29.137Z,1751053589.137 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.757298
2025-06-27T19:46:29.359Z,1751053589.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:29.362Z,1751053589.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 6.847110 m,
      bearing: 242.094168 deg,
      approach rate: -0.656162 m/s,
      LOS rate: -0.731078 deg/s,
      cmd heading: 233.272052 deg,
      new cmd heading: 232.288002 deg.

2025-06-27T19:46:29.363Z,1751053589.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054191 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:29.388Z,1751053589.388 [DAT](INFO): DAT read: Rx Time:19:46:27.6339

2025-06-27T19:46:29.388Z,1751053589.388 [DAT](INFO): Rx dataTimestamp_ set to:1751053589.387715
2025-06-27T19:46:29.389Z,1751053589.389 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.008961
2025-06-27T19:46:29.639Z,1751053589.639 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.259717
2025-06-27T19:46:29.825Z,1751053589.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:29.844Z,1751053589.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:29.850Z,1751053589.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 6.539584 m,
      bearing: 241.774817 deg,
      approach rate: -0.635151 m/s,
      LOS rate: -0.690585 deg/s,
      cmd heading: 232.288013 deg,
      new cmd heading: 231.285016 deg.

2025-06-27T19:46:29.851Z,1751053589.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036685 target range: 8.620763 and range: 8.70 m.
2025-06-27T19:46:29.900Z,1751053589.900 [DAT](INFO): DAT read: 19:46:27.6339 LVL= 32752, 32753, 28098, 32755, AGC= 54, IDX= 404,-0.19,-3.092, 1.676, 2.948, 3.062, PHS= 0.217,-1.339,-0.117, RAW= 138.2,  17.2, CAL= 141.4,  11.7, ROT=   8.6, -11.7

2025-06-27T19:46:29.901Z,1751053589.901 [DAT](INFO): got valid direction response:
 19:46:27.6339 LVL= 32752, 32753, 28098, 32755, AGC= 54, IDX= 404,-0.19,-3.092, 1.676, 2.948, 3.062, PHS= 0.217,-1.339,-0.117, RAW= 138.2,  17.2, CAL= 141.4,  11.7, ROT=   8.6, -11.7

2025-06-27T19:46:29.903Z,1751053589.903 [DAT](INFO): DAT read: Bearing   8.6, -11.7 (Local)

2025-06-27T19:46:29.903Z,1751053589.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6, -11.7 (Local)

2025-06-27T19:46:29.906Z,1751053589.906 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m  (Round-trip  8.5 ms) speed  0.5 m/s

2025-06-27T19:46:29.931Z,1751053589.931 [DAT](INFO): DAT read: user:2747>

2025-06-27T19:46:29.931Z,1751053589.931 [DAT](INFO): DAT read: Tx time:19:46:28.7212

2025-06-27T19:46:29.932Z,1751053589.932 [DAT](INFO): Ping request sent.
2025-06-27T19:46:29.932Z,1751053589.932 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:29.932Z,1751053589.932 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-06-27T19:46:29.933Z,1751053589.933 [DAT](INFO): direction in FSK: [0.968213,0.146428,0.202787]
2025-06-27T19:46:29.933Z,1751053589.933 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:29.934Z,1751053589.934 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:29.960Z,1751053589.960 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:29.960Z,1751053589.960 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:29.968Z,1751053589.968 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.035736
2025-06-27T19:46:29.987Z,1751053589.987 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:46:30.144Z,1751053590.144 [DAT](INFO): DAT read: TxSync time:19:46:28.7205

2025-06-27T19:46:30.144Z,1751053590.144 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.212565
2025-06-27T19:46:30.178Z,1751053590.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 3.528130 s,
      deltaX: -2.400000 m,
      approachRate: -0.680247 m/s,
      rangeRepo size: 4

2025-06-27T19:46:30.188Z,1751053590.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.242629 m,
      bearing: 253.026205 deg,
      lat: 36.906817 deg,
      lon: -122.116486 deg,
      deltaT: 3.528130 s,
      deltaX: -2.378134 m,
      approachRate: -0.674049 m/s,
      posRepo size: 4

2025-06-27T19:46:30.189Z,1751053590.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.24 m. 8.62 m.
2025-06-27T19:46:30.196Z,1751053590.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 6.317288 m,
      bearing: 241.554648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.945348 deg/s,
      cmd heading: 231.285013 deg,
      new cmd heading: 230.338020 deg.

2025-06-27T19:46:30.197Z,1751053590.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.020157 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:30.396Z,1751053590.396 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.463648
2025-06-27T19:46:30.557Z,1751053590.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:30.562Z,1751053590.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 6.064635 m,
      bearing: 241.334122 deg,
      approach rate: -0.666678 m/s,
      LOS rate: -0.606142 deg/s,
      cmd heading: 230.338021 deg,
      new cmd heading: 229.648918 deg.

2025-06-27T19:46:30.583Z,1751053590.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.008130 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:30.648Z,1751053590.648 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.716427
2025-06-27T19:46:30.899Z,1751053590.899 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.967347
2025-06-27T19:46:30.954Z,1751053590.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:30.957Z,1751053590.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 5.799298 m,
      bearing: 241.122424 deg,
      approach rate: -0.667686 m/s,
      LOS rate: -0.557082 deg/s,
      cmd heading: 229.648910 deg,
      new cmd heading: 228.984790 deg.

2025-06-27T19:46:30.958Z,1751053590.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.996538 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:30.991Z,1751053590.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:46:31.151Z,1751053591.151 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.219418
2025-06-27T19:46:31.391Z,1751053591.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:31.394Z,1751053591.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 5.515122 m,
      bearing: 240.895700 deg,
      approach rate: -0.649864 m/s,
      LOS rate: -0.545197 deg/s,
      cmd heading: 228.984783 deg,
      new cmd heading: 228.269600 deg.

2025-06-27T19:46:31.395Z,1751053591.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.984056 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:31.403Z,1751053591.403 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.471472
2025-06-27T19:46:31.655Z,1751053591.655 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.723408
2025-06-27T19:46:31.737Z,1751053591.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:31.739Z,1751053591.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 5.290072 m,
      bearing: 240.734445 deg,
      approach rate: -0.651368 m/s,
      LOS rate: -0.486580 deg/s,
      cmd heading: 228.269594 deg,
      new cmd heading: 227.765262 deg.

2025-06-27T19:46:31.740Z,1751053591.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.975254 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:31.907Z,1751053591.907 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.975465
2025-06-27T19:46:32.145Z,1751053592.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:32.152Z,1751053592.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:32.159Z,1751053592.159 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.227528
2025-06-27T19:46:32.160Z,1751053592.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 5.030604 m,
      bearing: 240.576884 deg,
      approach rate: -0.625184 m/s,
      LOS rate: -0.399219 deg/s,
      cmd heading: 227.765266 deg,
      new cmd heading: 227.268219 deg.

2025-06-27T19:46:32.161Z,1751053592.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966579 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:32.411Z,1751053592.411 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.479485
2025-06-27T19:46:32.582Z,1751053592.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:32.585Z,1751053592.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 4.741884 m,
      bearing: 240.336491 deg,
      approach rate: -0.671091 m/s,
      LOS rate: -0.592782 deg/s,
      cmd heading: 227.268220 deg,
      new cmd heading: 226.503177 deg.

2025-06-27T19:46:32.586Z,1751053592.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.953226 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:32.664Z,1751053592.664 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.731753
2025-06-27T19:46:32.915Z,1751053592.915 [DAT](INFO): DAT read: Rx Time:19:46:31.1311

2025-06-27T19:46:32.916Z,1751053592.916 [DAT](INFO): Rx dataTimestamp_ set to:1751053592.915637
2025-06-27T19:46:32.916Z,1751053592.916 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.984571
2025-06-27T19:46:32.967Z,1751053592.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:32.970Z,1751053592.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 4.500422 m,
      bearing: 240.207424 deg,
      approach rate: -0.626652 m/s,
      LOS rate: -0.352929 deg/s,
      cmd heading: 226.503170 deg,
      new cmd heading: 226.095203 deg.

2025-06-27T19:46:32.975Z,1751053592.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.946106 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:33.167Z,1751053593.167 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.235412
2025-06-27T19:46:33.412Z,1751053593.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:33.415Z,1751053593.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 4.206087 m,
      bearing: 240.030326 deg,
      approach rate: -0.661767 m/s,
      LOS rate: -0.426041 deg/s,
      cmd heading: 226.095203 deg,
      new cmd heading: 225.526749 deg.

2025-06-27T19:46:33.416Z,1751053593.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.936184 target range: 8.620763 and range: 6.30 m.
2025-06-27T19:46:33.437Z,1751053593.437 [DAT](INFO): DAT read: 19:46:31.1311 LVL= 14512, 32753, 22002, 32755, AGC= 49, IDX= 407, 0.02, 1.234,-0.461, 0.604, 0.513, PHS= 0.809,-0.927, 0.088, RAW= 125.6,   0.4, CAL= 132.4,  -7.6, ROT=  17.6,   7.6

2025-06-27T19:46:33.438Z,1751053593.438 [DAT](INFO): got valid direction response:
 19:46:31.1311 LVL= 14512, 32753, 22002, 32755, AGC= 49, IDX= 407, 0.02, 1.234,-0.461, 0.604, 0.513, PHS= 0.809,-0.927, 0.088, RAW= 125.6,   0.4, CAL= 132.4,  -7.6, ROT=  17.6,   7.6

2025-06-27T19:46:33.439Z,1751053593.439 [DAT](INFO): DAT read: Bearing  17.6,   7.6 (Local)

2025-06-27T19:46:33.440Z,1751053593.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.6,   7.6 (Local)

2025-06-27T19:46:33.441Z,1751053593.441 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m  (Round-trip  5.7 ms) speed  0.6 m/s

2025-06-27T19:46:33.442Z,1751053593.442 [DAT](INFO): DAT read: user:2748>

2025-06-27T19:46:33.443Z,1751053593.443 [DAT](INFO): DAT read: Tx time:19:46:32.2212

2025-06-27T19:46:33.443Z,1751053593.443 [DAT](INFO): Ping request sent.
2025-06-27T19:46:33.443Z,1751053593.443 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:33.443Z,1751053593.443 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-06-27T19:46:33.444Z,1751053593.444 [DAT](INFO): direction in FSK: [0.944817,0.299714,-0.132256]
2025-06-27T19:46:33.445Z,1751053593.445 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:33.445Z,1751053593.445 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:33.448Z,1751053593.448 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:33.449Z,1751053593.449 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:33.457Z,1751053593.457 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.013949
2025-06-27T19:46:33.684Z,1751053593.684 [DAT](INFO): DAT read: TxSync time:19:46:32.2205

2025-06-27T19:46:33.685Z,1751053593.685 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.241320
2025-06-27T19:46:33.780Z,1751053593.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 3.540021 s,
      deltaX: -2.100000 m,
      approachRate: -0.593217 m/s,
      rangeRepo size: 4

2025-06-27T19:46:33.782Z,1751053593.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.161754 m,
      bearing: 254.377980 deg,
      lat: 36.906819 deg,
      lon: -122.116486 deg,
      deltaT: 7.068151 s,
      deltaX: -4.459009 m,
      approachRate: -0.630859 m/s,
      posRepo size: 4

2025-06-27T19:46:33.783Z,1751053593.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.16 m. 8.62 m.
2025-06-27T19:46:33.786Z,1751053593.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 3.971194 m,
      bearing: 239.923333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.945348 deg/s,
      cmd heading: 225.526754 deg,
      new cmd heading: 224.484631 deg.

2025-06-27T19:46:33.787Z,1751053593.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917996 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:33.938Z,1751053593.938 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.494305
2025-06-27T19:46:34.155Z,1751053594.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:34.158Z,1751053594.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:34.160Z,1751053594.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 3.724727 m,
      bearing: 239.859773 deg,
      approach rate: -0.652022 m/s,
      LOS rate: -0.179274 deg/s,
      cmd heading: 224.484631 deg,
      new cmd heading: 224.281333 deg.

2025-06-27T19:46:34.161Z,1751053594.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.914448 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:34.187Z,1751053594.187 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.744270
2025-06-27T19:46:34.439Z,1751053594.439 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.996121
2025-06-27T19:46:34.597Z,1751053594.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:34.604Z,1751053594.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 3.455517 m,
      bearing: 239.871150 deg,
      approach rate: -0.612897 m/s,
      LOS rate: 0.027920 deg/s,
      cmd heading: 224.281337 deg,
      new cmd heading: 224.318128 deg.

2025-06-27T19:46:34.605Z,1751053594.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.915090 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:34.696Z,1751053594.696 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.252956
2025-06-27T19:46:34.947Z,1751053594.947 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.504298
2025-06-27T19:46:34.967Z,1751053594.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:34.970Z,1751053594.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 3.210330 m,
      bearing: 239.951668 deg,
      approach rate: -0.662567 m/s,
      LOS rate: 0.234202 deg/s,
      cmd heading: 224.318125 deg,
      new cmd heading: 224.578126 deg.

2025-06-27T19:46:34.971Z,1751053594.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.919628 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:35.199Z,1751053595.199 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.756226
2025-06-27T19:46:35.451Z,1751053595.451 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.008029
2025-06-27T19:46:35.462Z,1751053595.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:35.469Z,1751053595.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 2.912698 m,
      bearing: 240.068994 deg,
      approach rate: -0.601414 m/s,
      LOS rate: 0.261302 deg/s,
      cmd heading: 224.578123 deg,
      new cmd heading: 224.966061 deg.

2025-06-27T19:46:35.474Z,1751053595.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.926399 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:35.703Z,1751053595.703 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.260199
2025-06-27T19:46:35.777Z,1751053595.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:35.781Z,1751053595.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 2.696616 m,
      bearing: 240.238882 deg,
      approach rate: -0.684653 m/s,
      LOS rate: 0.581421 deg/s,
      cmd heading: 224.966064 deg,
      new cmd heading: 225.516548 deg.

2025-06-27T19:46:35.782Z,1751053595.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.936006 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:35.955Z,1751053595.955 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.512100
2025-06-27T19:46:36.173Z,1751053596.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:36.176Z,1751053596.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:36.179Z,1751053596.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 2.444742 m,
      bearing: 240.558325 deg,
      approach rate: -0.632052 m/s,
      LOS rate: 0.884191 deg/s,
      cmd heading: 225.516550 deg,
      new cmd heading: 226.573488 deg.

2025-06-27T19:46:36.179Z,1751053596.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954453 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:36.209Z,1751053596.209 [DAT](INFO): DAT read: Rx Time:19:46:34.6283

2025-06-27T19:46:36.209Z,1751053596.209 [DAT](INFO): Rx dataTimestamp_ set to:1751053596.209197
2025-06-27T19:46:36.210Z,1751053596.210 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.766848
2025-06-27T19:46:36.459Z,1751053596.459 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.016141
2025-06-27T19:46:36.607Z,1751053596.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.62 m. 8.62 m.
2025-06-27T19:46:36.610Z,1751053596.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.620763 m,
      nav range: 2.171019 m,
      bearing: 240.864078 deg,
      approach rate: -0.634288 m/s,
      LOS rate: 0.797834 deg/s,
      cmd heading: 226.573494 deg,
      new cmd heading: 227.606284 deg.

2025-06-27T19:46:36.612Z,1751053596.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.972479 target range: 8.620763 and range: 4.20 m.
2025-06-27T19:46:36.719Z,1751053596.719 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.275543
2025-06-27T19:46:36.968Z,1751053596.968 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.4 m/s

2025-06-27T19:46:36.969Z,1751053596.969 [DAT](INFO): DAT read: user:2749>

2025-06-27T19:46:36.970Z,1751053596.970 [DAT](INFO): DAT read: Tx time:19:46:35.7212

2025-06-27T19:46:36.970Z,1751053596.970 [DAT](INFO): Ping request sent.
2025-06-27T19:46:36.970Z,1751053596.970 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:36.971Z,1751053596.971 [DAT](INFO): DAT read: TxSync time:19:46:35.7205

2025-06-27T19:46:36.972Z,1751053596.972 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-27T19:46:36.972Z,1751053596.972 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:36.972Z,1751053596.972 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:36.973Z,1751053596.973 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.002753
2025-06-27T19:46:37.056Z,1751053597.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.535760 s,
      deltaX: -2.100000 m,
      approachRate: -0.593932 m/s,
      rangeRepo size: 4

2025-06-27T19:46:37.057Z,1751053597.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.10 m.
2025-06-27T19:46:37.057Z,1751053597.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-06-27T19:46:37.219Z,1751053597.219 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.248821
2025-06-27T19:46:37.471Z,1751053597.471 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.500932
2025-06-27T19:46:37.723Z,1751053597.723 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.752816
2025-06-27T19:46:37.975Z,1751053597.975 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.004895
2025-06-27T19:46:38.208Z,1751053598.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:38.229Z,1751053598.229 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.258112
2025-06-27T19:46:38.480Z,1751053598.480 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.509186
2025-06-27T19:46:38.637Z,1751053598.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-06-27T19:46:38.637Z,1751053598.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.10 m.
2025-06-27T19:46:38.638Z,1751053598.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-06-27T19:46:38.731Z,1751053598.731 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.760845
2025-06-27T19:46:38.983Z,1751053598.983 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.012806
2025-06-27T19:46:39.067Z,1751053599.067 [DockingStepper](INFO): Changing to mode: 1
2025-06-27T19:46:39.067Z,1751053599.067 [DockingStepper](INFO): Standby mode.
2025-06-27T19:46:39.130Z,1751053599.130 [DockingStepper](INFO): Commanding positive:54691
2025-06-27T19:46:39.235Z,1751053599.235 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.264794
2025-06-27T19:46:39.488Z,1751053599.488 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.517008
2025-06-27T19:46:39.739Z,1751053599.739 [DAT](INFO): DAT read: Rx Time:19:46:38.1273

2025-06-27T19:46:39.740Z,1751053599.740 [DAT](INFO): Rx dataTimestamp_ set to:1751053599.739571
2025-06-27T19:46:39.740Z,1751053599.740 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.769924
2025-06-27T19:46:39.992Z,1751053599.992 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.021612
2025-06-27T19:46:40.287Z,1751053600.287 [DAT](INFO): DAT read: 19:46:38.1273 LVL= 26000, 23841, 32754, 31091, AGC= 43, IDX= 429, 0.15, 2.882, 1.675, 1.821,-2.592, PHS=-0.721,-1.969,-1.873, RAW=  94.0,  53.3, CAL=  94.3,  59.1, ROT=  55.7, -59.1

2025-06-27T19:46:40.288Z,1751053600.288 [DAT](INFO): got valid direction response:
 19:46:38.1273 LVL= 26000, 23841, 32754, 31091, AGC= 43, IDX= 429, 0.15, 2.882, 1.675, 1.821,-2.592, PHS=-0.721,-1.969,-1.873, RAW=  94.0,  53.3, CAL=  94.3,  59.1, ROT=  55.7, -59.1

2025-06-27T19:46:40.289Z,1751053600.289 [DAT](INFO): DAT read: Bearing  55.7, -59.1 (Local)

2025-06-27T19:46:40.289Z,1751053600.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.7, -59.1 (Local)

2025-06-27T19:46:40.291Z,1751053600.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:40.299Z,1751053600.299 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-27T19:46:40.300Z,1751053600.300 [DAT](INFO): DAT read: user:2750>

2025-06-27T19:46:40.300Z,1751053600.300 [DAT](INFO): DAT read: Tx time:19:46:39.2213

2025-06-27T19:46:40.301Z,1751053600.301 [DAT](INFO): Ping request sent.
2025-06-27T19:46:40.301Z,1751053600.301 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:40.301Z,1751053600.301 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-06-27T19:46:40.310Z,1751053600.310 [DAT](INFO): direction in FSK: [0.289394,0.424236,0.858065]
2025-06-27T19:46:40.311Z,1751053600.311 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:40.311Z,1751053600.311 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:40.314Z,1751053600.314 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:40.326Z,1751053600.326 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:40.330Z,1751053600.330 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.028803
2025-06-27T19:46:40.496Z,1751053600.496 [DAT](INFO): DAT read: TxSync time:19:46:39.2206

2025-06-27T19:46:40.497Z,1751053600.497 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.195741
2025-06-27T19:46:40.685Z,1751053600.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.300000 m,
      deltaT: 3.278719 s,
      deltaX: -0.800000 m,
      approachRate: -0.243998 m/s,
      rangeRepo size: 4

2025-06-27T19:46:40.691Z,1751053600.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.288160 m,
      bearing: 278.605644 deg,
      lat: 36.906820 deg,
      lon: -122.116489 deg,
      deltaT: 13.882630 s,
      deltaX: -7.332603 m,
      approachRate: -0.528185 m/s,
      posRepo size: 4

2025-06-27T19:46:40.747Z,1751053600.747 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.446523
2025-06-27T19:46:40.000Z,1751053601.000 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.699016
2025-06-27T19:46:41.251Z,1751053601.251 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.950384
2025-06-27T19:46:41.503Z,1751053601.503 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.202536
2025-06-27T19:46:41.755Z,1751053601.755 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.454461
2025-06-27T19:46:42.008Z,1751053602.008 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.707103
2025-06-27T19:46:42.259Z,1751053602.259 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.958522
2025-06-27T19:46:42.515Z,1751053602.515 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.213059
2025-06-27T19:46:42.668Z,1751053602.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:42.763Z,1751053602.763 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.462396
2025-06-27T19:46:43.016Z,1751053603.016 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.715121
2025-06-27T19:46:43.267Z,1751053603.267 [DAT](INFO): DAT read: Rx Time:19:46:41.6273

2025-06-27T19:46:43.268Z,1751053603.268 [DAT](INFO): Rx dataTimestamp_ set to:1751053603.267635
2025-06-27T19:46:43.268Z,1751053603.268 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.967578
2025-06-27T19:46:43.524Z,1751053603.524 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.220730
2025-06-27T19:46:43.772Z,1751053603.772 [DAT](INFO): DAT read: Range 10 to 50 : 1.3 m  (Round-trip  1.8 ms) speed  0.0 m/s

2025-06-27T19:46:43.773Z,1751053603.773 [DAT](INFO): DAT read: user:2751>

2025-06-27T19:46:43.774Z,1751053603.774 [DAT](INFO): DAT read: Tx time:19:46:42.7213

2025-06-27T19:46:43.774Z,1751053603.774 [DAT](INFO): Ping request sent.
2025-06-27T19:46:43.774Z,1751053603.774 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:43.775Z,1751053603.775 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-27T19:46:43.775Z,1751053603.775 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:43.776Z,1751053603.776 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:43.777Z,1751053603.777 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.002824
2025-06-27T19:46:43.935Z,1751053603.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.300000 m,
      deltaT: 3.525376 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-06-27T19:46:44.025Z,1751053604.025 [DAT](INFO): DAT read: TxSync time:19:46:42.7206

2025-06-27T19:46:44.025Z,1751053604.025 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.251231
2025-06-27T19:46:44.275Z,1751053604.275 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.500925
2025-06-27T19:46:44.530Z,1751053604.530 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.755704
2025-06-27T19:46:44.780Z,1751053604.780 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.005243
2025-06-27T19:46:44.785Z,1751053604.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:45.031Z,1751053605.031 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.257025
2025-06-27T19:46:45.148Z,1751053605.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.30 m. Lat: 36.906820 Lon: -122.116489 Cable present.
2025-06-27T19:46:45.148Z,1751053605.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-06-27T19:46:45.148Z,1751053605.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-06-27T19:46:45.149Z,1751053605.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-06-27T19:46:45.283Z,1751053605.283 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.509078
2025-06-27T19:46:45.538Z,1751053605.538 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.763639
2025-06-27T19:46:45.641Z,1751053605.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-06-27T19:46:45.641Z,1751053605.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-06-27T19:46:45.641Z,1751053605.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-06-27T19:46:45.665Z,1751053605.665 [DockingStepper](INFO): Pause
2025-06-27T19:46:45.788Z,1751053605.788 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.013673
2025-06-27T19:46:45.986Z,1751053605.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-06-27T19:46:46.004Z,1751053606.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-27T19:46:46.004Z,1751053606.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-06-27T19:46:46.004Z,1751053606.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-06-27T19:46:46.005Z,1751053606.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-27T19:46:46.040Z,1751053606.040 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.265254
2025-06-27T19:46:46.291Z,1751053606.291 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.517094
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-06-27T19:46:46.384Z,1751053606.384 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-06-27T19:46:46.385Z,1751053606.385 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-06-27T19:46:46.385Z,1751053606.385 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-06-27T19:46:46.385Z,1751053606.385 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-06-27T19:46:46.386Z,1751053606.386 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-06-27T19:46:46.386Z,1751053606.386 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-06-27T19:46:46.386Z,1751053606.386 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-06-27T19:46:46.386Z,1751053606.386 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-06-27T19:46:46.386Z,1751053606.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-06-27T19:46:46.387Z,1751053606.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-06-27T19:46:46.387Z,1751053606.387 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-06-27T19:46:46.387Z,1751053606.387 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-06-27T19:46:46.554Z,1751053606.554 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.779106
2025-06-27T19:46:46.799Z,1751053606.799 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-06-27T19:46:46.800Z,1751053606.800 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-06-27T19:46:46.800Z,1751053606.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:46.804Z,1751053606.804 [DAT](INFO): DAT read: Rx Time:19:46:45.1277

2025-06-27T19:46:46.804Z,1751053606.804 [DAT](INFO): Rx dataTimestamp_ set to:1751053606.803717
2025-06-27T19:46:46.805Z,1751053606.805 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.030306
2025-06-27T19:46:47.055Z,1751053607.055 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.281059
2025-06-27T19:46:47.177Z,1751053607.177 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-06-27T19:46:47.177Z,1751053607.177 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-06-27T19:46:47.177Z,1751053607.177 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-06-27T19:46:47.314Z,1751053607.314 [DAT](INFO): DAT read: 19:46:45.1277 LVL= 11536, 23025, 19538, 32755, AGC= 44, IDX= 433, 0.12, 2.012,-1.988, 2.995,-2.666, PHS=-1.517, 0.725,-0.625, RAW= 306.7,  14.4, CAL= 310.8,  21.4, ROT= 199.2, -21.4

2025-06-27T19:46:47.315Z,1751053607.315 [DAT](INFO): got valid direction response:
 19:46:45.1277 LVL= 11536, 23025, 19538, 32755, AGC= 44, IDX= 433, 0.12, 2.012,-1.988, 2.995,-2.666, PHS=-1.517, 0.725,-0.625, RAW= 306.7,  14.4, CAL= 310.8,  21.4, ROT= 199.2, -21.4

2025-06-27T19:46:47.316Z,1751053607.316 [DAT](INFO): DAT read: Bearing 199.2, -21.4 (Local)

2025-06-27T19:46:47.316Z,1751053607.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.2, -21.4 (Local)

2025-06-27T19:46:47.318Z,1751053607.318 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:46:47.319Z,1751053607.319 [DAT](INFO): DAT read: user:2752>

2025-06-27T19:46:47.319Z,1751053607.319 [DAT](INFO): DAT read: Tx time:19:46:46.2213

2025-06-27T19:46:47.320Z,1751053607.320 [DAT](INFO): Ping request sent.
2025-06-27T19:46:47.320Z,1751053607.320 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:47.320Z,1751053607.320 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-06-27T19:46:47.321Z,1751053607.321 [DAT](INFO): direction in FSK: [-0.879267,-0.306193,0.364877]
2025-06-27T19:46:47.321Z,1751053607.321 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:47.322Z,1751053607.322 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:47.325Z,1751053607.325 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:47.325Z,1751053607.325 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:47.329Z,1751053607.329 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.008788
2025-06-27T19:46:47.562Z,1751053607.562 [DAT](INFO): DAT read: TxSync time:19:46:46.2206

2025-06-27T19:46:47.564Z,1751053607.564 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.243969
2025-06-27T19:46:47.813Z,1751053607.813 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.493424
2025-06-27T19:46:48.063Z,1751053608.063 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.743567
2025-06-27T19:46:48.315Z,1751053608.315 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.995545
2025-06-27T19:46:48.570Z,1751053608.570 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.249645
2025-06-27T19:46:48.819Z,1751053608.819 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.499634
2025-06-27T19:46:48.822Z,1751053608.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:49.072Z,1751053609.072 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.751830
2025-06-27T19:46:49.324Z,1751053609.324 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.004424
2025-06-27T19:46:49.581Z,1751053609.581 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.261181
2025-06-27T19:46:49.831Z,1751053609.831 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.511702
2025-06-27T19:46:50.032Z,1751053610.032 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-06-27T19:46:50.033Z,1751053610.033 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-06-27T19:46:50.033Z,1751053610.033 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-06-27T19:46:50.033Z,1751053610.033 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-06-27T19:46:50.083Z,1751053610.083 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.763680
2025-06-27T19:46:50.335Z,1751053610.335 [DAT](INFO): DAT read: Rx Time:19:46:48.6277

2025-06-27T19:46:50.336Z,1751053610.336 [DAT](INFO): Rx dataTimestamp_ set to:1751053610.335445
2025-06-27T19:46:50.336Z,1751053610.336 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.016529
2025-06-27T19:46:50.413Z,1751053610.413 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-06-27T19:46:50.413Z,1751053610.413 [lineCaptureHoming:LineCapture:M] Stopped
2025-06-27T19:46:50.427Z,1751053610.427 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-06-27T19:46:50.427Z,1751053610.427 [lineCaptureHoming:LineCapture] Stopped
2025-06-27T19:46:50.427Z,1751053610.427 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-06-27T19:46:50.427Z,1751053610.427 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:G] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:H] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-06-27T19:46:50.428Z,1751053610.428 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-06-27T19:46:50.429Z,1751053610.429 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-06-27T19:46:50.429Z,1751053610.429 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-06-27T19:46:50.429Z,1751053610.429 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-27T19:46:50.590Z,1751053610.590 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.269537
2025-06-27T19:46:50.845Z,1751053610.845 [DAT](INFO): DAT read: 19:46:48.6277 LVL= 14016, 27617, 21154, 32755, AGC= 45, IDX= 433,-0.38, 1.810,-2.452, 2.699,-2.843, PHS=-1.543, 0.437,-0.745, RAW= 306.4,  20.8, CAL= 311.4,  26.0, ROT= 198.6, -26.0

2025-06-27T19:46:50.847Z,1751053610.847 [DAT](INFO): got valid direction response:
 19:46:48.6277 LVL= 14016, 27617, 21154, 32755, AGC= 45, IDX= 433,-0.38, 1.810,-2.452, 2.699,-2.843, PHS=-1.543, 0.437,-0.745, RAW= 306.4,  20.8, CAL= 311.4,  26.0, ROT= 198.6, -26.0

2025-06-27T19:46:50.848Z,1751053610.848 [DAT](INFO): DAT read: Bearing 198.6, -26.0 (Local)

2025-06-27T19:46:50.848Z,1751053610.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.6, -26.0 (Local)

2025-06-27T19:46:50.851Z,1751053610.851 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:46:50.852Z,1751053610.852 [DAT](INFO): DAT read: user:2753>

2025-06-27T19:46:50.853Z,1751053610.853 [DAT](INFO): DAT read: Tx time:19:46:49.7214

2025-06-27T19:46:50.854Z,1751053610.854 [DAT](INFO): Ping request sent.
2025-06-27T19:46:50.854Z,1751053610.854 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:50.867Z,1751053610.867 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-06-27T19:46:50.868Z,1751053610.868 [DAT](INFO): direction in FSK: [-0.851849,-0.286679,0.438371]
2025-06-27T19:46:50.869Z,1751053610.869 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:50.869Z,1751053610.869 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:50.877Z,1751053610.877 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-06-27T19:46:50.877Z,1751053610.877 [lineCaptureHoming:Lap:B] Stopped
2025-06-27T19:46:50.878Z,1751053610.878 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-06-27T19:46:50.878Z,1751053610.878 [lineCaptureHoming:Lap:C] Running Loop=1
2025-06-27T19:46:50.882Z,1751053610.882 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:50.890Z,1751053610.890 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:50.908Z,1751053610.908 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.053904
2025-06-27T19:46:51.092Z,1751053611.092 [DAT](INFO): DAT read: TxSync time:19:46:49.7207

2025-06-27T19:46:51.092Z,1751053611.092 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.238630
2025-06-27T19:46:51.226Z,1751053611.226 [lineCaptureHoming:Lap:C] Stopped
2025-06-27T19:46:51.242Z,1751053611.242 [lineCaptureHoming:Lap:D] Running Loop=1
2025-06-27T19:46:51.343Z,1751053611.343 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.489626
2025-06-27T19:46:51.602Z,1751053611.602 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.748119
2025-06-27T19:46:51.684Z,1751053611.684 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-06-27T19:46:51.684Z,1751053611.684 [lineCaptureHoming:Lap:D] Stopped
2025-06-27T19:46:51.684Z,1751053611.684 [lineCaptureHoming:Lap:E] Running Loop=1
2025-06-27T19:46:51.684Z,1751053611.684 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-06-27T19:46:51.685Z,1751053611.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:46:51.851Z,1751053611.851 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.997551
2025-06-27T19:46:52.040Z,1751053612.040 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-06-27T19:46:52.040Z,1751053612.040 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-06-27T19:46:52.041Z,1751053612.041 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-06-27T19:46:52.041Z,1751053612.041 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-06-27T19:46:52.041Z,1751053612.041 [lineCaptureHoming:restartDHCP:A] Stopped
2025-06-27T19:46:52.041Z,1751053612.041 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-06-27T19:46:52.104Z,1751053612.104 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.249773
2025-06-27T19:46:52.355Z,1751053612.355 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.501573
2025-06-27T19:46:52.448Z,1751053612.448 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-27T19:46:52.449Z,1751053612.449 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-06-27T19:46:52.449Z,1751053612.449 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-06-27T19:46:52.449Z,1751053612.449 [lineCaptureHoming:restartDHCP] Stopped
2025-06-27T19:46:52.449Z,1751053612.449 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-06-27T19:46:52.479Z,1751053612.479 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-06-27T19:46:52.612Z,1751053612.612 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.757661
2025-06-27T19:46:52.859Z,1751053612.859 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.005674
2025-06-27T19:46:52.913Z,1751053612.913 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-06-27T19:46:52.913Z,1751053612.913 [lineCaptureHoming:Lap:E] Stopped
2025-06-27T19:46:52.913Z,1751053612.913 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-06-27T19:46:52.923Z,1751053612.923 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-06-27T19:46:52.923Z,1751053612.923 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-06-27T19:46:52.923Z,1751053612.923 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-06-27T19:46:53.113Z,1751053613.113 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.259146
2025-06-27T19:46:53.124Z,1751053613.124 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-06-27UTC194653_sh
  
2025-06-27T19:46:53.271Z,1751053613.271 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-06-27T19:46:53.274Z,1751053613.274 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-06-27T19:46:53.275Z,1751053613.275 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-06-27T19:46:53.364Z,1751053613.364 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.509827
2025-06-27T19:46:53.618Z,1751053613.618 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.763787
2025-06-27T19:46:53.718Z,1751053613.718 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-06-27T19:46:53.718Z,1751053613.718 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-06-27T19:46:53.867Z,1751053613.867 [DAT](INFO): DAT read: Rx Time:19:46:52.1277

2025-06-27T19:46:53.868Z,1751053613.868 [DAT](INFO): Rx dataTimestamp_ set to:1751053613.867691
2025-06-27T19:46:53.869Z,1751053613.869 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.014855
2025-06-27T19:46:54.071Z,1751053614.071 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-06-27T19:46:54.071Z,1751053614.071 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-06-27T19:46:54.071Z,1751053614.071 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-06-27T19:46:54.072Z,1751053614.072 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-06-27T19:46:54.119Z,1751053614.119 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.265713
2025-06-27T19:46:54.372Z,1751053614.372 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:46:54.373Z,1751053614.373 [DAT](INFO): DAT read: user:2754>

2025-06-27T19:46:54.374Z,1751053614.374 [DAT](INFO): DAT read: Tx time:19:46:53.2214

2025-06-27T19:46:54.374Z,1751053614.374 [DAT](INFO): Ping request sent.
2025-06-27T19:46:54.374Z,1751053614.374 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:54.375Z,1751053614.375 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-06-27T19:46:54.375Z,1751053614.375 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:54.375Z,1751053614.375 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:54.376Z,1751053614.376 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.002137
2025-06-27T19:46:54.536Z,1751053614.536 [DockingStepper](INFO): Resume
2025-06-27T19:46:54.624Z,1751053614.624 [DAT](INFO): DAT read: TxSync time:19:46:53.2207

2025-06-27T19:46:54.624Z,1751053614.624 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.250208
2025-06-27T19:46:54.625Z,1751053614.625 [DAT](INFO): Requesting device enable set for address 50.
2025-06-27T19:46:54.876Z,1751053614.876 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.501366
2025-06-27T19:46:54.876Z,1751053614.876 [DAT](INFO): Requesting device enable set for address 50.
2025-06-27T19:46:54.934Z,1751053614.934 [DockingStepper](INFO): Resuming
2025-06-27T19:46:55.127Z,1751053615.127 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.753128
2025-06-27T19:46:55.128Z,1751053615.128 [DAT](INFO): Requesting device enable set for address 50.
2025-06-27T19:46:55.286Z,1751053615.286 [DockingStepper](INFO): Start
2025-06-27T19:46:55.286Z,1751053615.286 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-06-27T19:46:55.380Z,1751053615.380 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.005876
2025-06-27T19:46:55.403Z,1751053615.403 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-06-27T19:46:55.631Z,1751053615.631 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.257080
2025-06-27T19:46:55.785Z,1751053615.785 [DockingStepper](INFO): Starting
2025-06-27T19:46:55.883Z,1751053615.883 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.509199
2025-06-27T19:46:56.080Z,1751053616.080 [DockingStepper](INFO): Starting
2025-06-27T19:46:56.135Z,1751053616.135 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.761207
2025-06-27T19:46:56.387Z,1751053616.387 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.013131
2025-06-27T19:46:56.505Z,1751053616.505 [DockingStepper](INFO): Starting
2025-06-27T19:46:56.559Z,1751053616.559 [DockingStepper](INFO): Init string: /1z16367aE13561N3m50
2025-06-27T19:46:56.640Z,1751053616.640 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.265607
2025-06-27T19:46:56.891Z,1751053616.891 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.517191
2025-06-27T19:46:56.977Z,1751053616.977 [DockingStepper](INFO): Starting
2025-06-27T19:46:57.143Z,1751053617.143 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.769108
2025-06-27T19:46:57.338Z,1751053617.338 [DockingStepper](INFO): Starting
2025-06-27T19:46:57.396Z,1751053617.396 [DAT](INFO): DAT read: Rx Time:19:46:55.6278

2025-06-27T19:46:57.396Z,1751053617.396 [DAT](INFO): Rx dataTimestamp_ set to:1751053617.396046
2025-06-27T19:46:57.397Z,1751053617.397 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.022694
2025-06-27T19:46:57.650Z,1751053617.650 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.275509
2025-06-27T19:46:57.808Z,1751053617.808 [DockingStepper](INFO): Starting
2025-06-27T19:46:57.917Z,1751053617.917 [DAT](INFO): DAT read: 19:46:55.6278 LVL= 18608, 24689, 23650, 32755, AGC= 47, IDX= 434,-0.16, 2.340,-1.932, 3.117,-2.416, PHS=-1.440, 0.531,-0.753, RAW= 309.9,  18.7, CAL= 314.3,  24.3, ROT= 195.7, -24.3

2025-06-27T19:46:57.918Z,1751053617.918 [DAT](INFO): got valid direction response:
 19:46:55.6278 LVL= 18608, 24689, 23650, 32755, AGC= 47, IDX= 434,-0.16, 2.340,-1.932, 3.117,-2.416, PHS=-1.440, 0.531,-0.753, RAW= 309.9,  18.7, CAL= 314.3,  24.3, ROT= 195.7, -24.3

2025-06-27T19:46:57.919Z,1751053617.919 [DAT](INFO): DAT read: Bearing 195.7, -24.3 (Local)

2025-06-27T19:46:57.920Z,1751053617.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.7, -24.3 (Local)

2025-06-27T19:46:57.921Z,1751053617.921 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:46:57.922Z,1751053617.922 [DAT](INFO): DAT read: user:2755>

2025-06-27T19:46:57.936Z,1751053617.936 [DAT](INFO): DAT read: Tx time:19:46:56.7214

2025-06-27T19:46:57.936Z,1751053617.936 [DAT](INFO): Ping request sent.
2025-06-27T19:46:57.936Z,1751053617.936 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:46:57.937Z,1751053617.937 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-06-27T19:46:57.938Z,1751053617.938 [DAT](INFO): direction in FSK: [-0.877400,-0.246626,0.411514]
2025-06-27T19:46:57.938Z,1751053617.938 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:57.938Z,1751053617.938 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:57.942Z,1751053617.942 [DAT](INFO): publishing transmit ping time
2025-06-27T19:46:57.967Z,1751053617.967 [DAT](INFO): publishing direction and range info
2025-06-27T19:46:57.970Z,1751053617.970 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.033593
2025-06-27T19:46:58.163Z,1751053618.163 [DAT](INFO): DAT read: TxSync time:19:46:56.7207

2025-06-27T19:46:58.164Z,1751053618.164 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.227721
2025-06-27T19:46:58.287Z,1751053618.287 [DockingStepper](INFO): Starting
2025-06-27T19:46:58.315Z,1751053618.315 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:�/0@
2025-06-27T19:46:58.415Z,1751053618.415 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.478999
2025-06-27T19:46:58.536Z,1751053618.536 [DockingStepper](INFO): Starting
2025-06-27T19:46:58.667Z,1751053618.667 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.730864
2025-06-27T19:46:58.919Z,1751053618.919 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.983064
2025-06-27T19:46:58.949Z,1751053618.949 [DockingStepper](INFO): Changing to mode: 1
2025-06-27T19:46:58.949Z,1751053618.949 [DockingStepper](INFO): Standby mode.
2025-06-27T19:46:59.171Z,1751053619.171 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.234986
2025-06-27T19:46:59.423Z,1751053619.423 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.486938
2025-06-27T19:46:59.680Z,1751053619.680 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.743832
2025-06-27T19:46:59.931Z,1751053619.931 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.994975
2025-06-27T19:47:00.183Z,1751053620.183 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.246977
2025-06-27T19:47:00.435Z,1751053620.435 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.498899
2025-06-27T19:47:00.687Z,1751053620.687 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.750979
2025-06-27T19:47:00.939Z,1751053620.939 [DAT](INFO): DAT read: Rx Time:19:46:59.1278

2025-06-27T19:47:00.940Z,1751053620.940 [DAT](INFO): Rx dataTimestamp_ set to:1751053620.939687
2025-06-27T19:47:00.941Z,1751053620.941 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.004140
2025-06-27T19:47:01.111Z,1751053621.111 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-06-27T19:47:01.191Z,1751053621.191 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.254973
2025-06-27T19:47:01.449Z,1751053621.449 [DAT](INFO): DAT read: 19:46:59.1278 LVL= 17904, 27969, 23250, 32755, AGC= 47, IDX= 432, 0.48, 1.170, 3.071, 1.789, 2.603, PHS=-1.345, 0.515,-0.818, RAW= 314.0,  19.3, CAL= 318.1,  24.4, ROT= 191.9, -24.4

2025-06-27T19:47:01.452Z,1751053621.452 [DAT](INFO): got valid direction response:
 19:46:59.1278 LVL= 17904, 27969, 23250, 32755, AGC= 47, IDX= 432, 0.48, 1.170, 3.071, 1.789, 2.603, PHS=-1.345, 0.515,-0.818, RAW= 314.0,  19.3, CAL= 318.1,  24.4, ROT= 191.9, -24.4

2025-06-27T19:47:01.455Z,1751053621.455 [DAT](INFO): DAT read: Bearing 191.9, -24.4 (Local)

2025-06-27T19:47:01.456Z,1751053621.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.9, -24.4 (Local)

2025-06-27T19:47:01.457Z,1751053621.457 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:01.458Z,1751053621.458 [DAT](INFO): DAT read: user:2756>

2025-06-27T19:47:01.479Z,1751053621.479 [DAT](INFO): DAT read: Tx time:19:47:00.2215

2025-06-27T19:47:01.479Z,1751053621.479 [DAT](INFO): Ping request sent.
2025-06-27T19:47:01.479Z,1751053621.479 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:01.480Z,1751053621.480 [DAT](INFO): DAT read: TxSync time:19:47:00.2208

2025-06-27T19:47:01.480Z,1751053621.480 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-06-27T19:47:01.481Z,1751053621.481 [DAT](INFO): direction in FSK: [-0.891112,-0.187787,0.413104]
2025-06-27T19:47:01.481Z,1751053621.481 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:01.482Z,1751053621.482 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:01.497Z,1751053621.497 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:01.497Z,1751053621.497 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:01.505Z,1751053621.505 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.026342
2025-06-27T19:47:01.695Z,1751053621.695 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.216229
2025-06-27T19:47:01.947Z,1751053621.947 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.468277
2025-06-27T19:47:02.115Z,1751053622.115 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-06-27T19:47:02.199Z,1751053622.199 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.720405
2025-06-27T19:47:02.451Z,1751053622.451 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.972254
2025-06-27T19:47:02.704Z,1751053622.704 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.224552
2025-06-27T19:47:02.956Z,1751053622.956 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.476444
2025-06-27T19:47:03.207Z,1751053623.207 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.728250
2025-06-27T19:47:03.459Z,1751053623.459 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.980289
2025-06-27T19:47:03.711Z,1751053623.711 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.232311
2025-06-27T19:47:03.963Z,1751053623.963 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.484217
2025-06-27T19:47:04.216Z,1751053624.216 [DAT](INFO): DAT read: Rx Time:19:47:02.6278

2025-06-27T19:47:04.217Z,1751053624.217 [DAT](INFO): Rx dataTimestamp_ set to:1751053624.216372
2025-06-27T19:47:04.218Z,1751053624.218 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.738461
2025-06-27T19:47:04.467Z,1751053624.467 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.988282
2025-06-27T19:47:04.722Z,1751053624.722 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.242279
2025-06-27T19:47:04.978Z,1751053624.978 [DAT](INFO): DAT read: 19:47:02.6278 LVL= 28112, 30193, 31586, 32755, AGC= 50, IDX= 432, 0.09, 0.112, 2.259, 0.834, 1.685, PHS=-1.485, 0.621,-0.854, RAW= 313.0,  18.0, CAL= 317.0,  23.5, ROT= 193.0, -23.5

2025-06-27T19:47:04.979Z,1751053624.979 [DAT](INFO): got valid direction response:
 19:47:02.6278 LVL= 28112, 30193, 31586, 32755, AGC= 50, IDX= 432, 0.09, 0.112, 2.259, 0.834, 1.685, PHS=-1.485, 0.621,-0.854, RAW= 313.0,  18.0, CAL= 317.0,  23.5, ROT= 193.0, -23.5

2025-06-27T19:47:04.980Z,1751053624.980 [DAT](INFO): DAT read: Bearing 193.0, -23.5 (Local)

2025-06-27T19:47:04.980Z,1751053624.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.0, -23.5 (Local)

2025-06-27T19:47:04.982Z,1751053624.982 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:04.983Z,1751053624.983 [DAT](INFO): DAT read: user:2757>

2025-06-27T19:47:04.984Z,1751053624.984 [DAT](INFO): DAT read: Tx time:19:47:03.7215

2025-06-27T19:47:04.984Z,1751053624.984 [DAT](INFO): Ping request sent.
2025-06-27T19:47:04.984Z,1751053624.984 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:04.985Z,1751053624.985 [DAT](INFO): DAT read: TxSync time:19:47:03.7208

2025-06-27T19:47:04.985Z,1751053624.985 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-06-27T19:47:04.986Z,1751053624.986 [DAT](INFO): direction in FSK: [-0.893556,-0.206294,0.398749]
2025-06-27T19:47:04.991Z,1751053624.991 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:04.991Z,1751053624.991 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:04.000Z,1751053625.000 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:04.000Z,1751053625.000 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:05.009Z,1751053625.009 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.025154
2025-06-27T19:47:05.223Z,1751053625.223 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.239494
2025-06-27T19:47:05.475Z,1751053625.475 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.491369
2025-06-27T19:47:05.727Z,1751053625.727 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.743370
2025-06-27T19:47:05.979Z,1751053625.979 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.995437
2025-06-27T19:47:06.232Z,1751053626.232 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.247736
2025-06-27T19:47:06.483Z,1751053626.483 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.499349
2025-06-27T19:47:06.735Z,1751053626.735 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.751422
2025-06-27T19:47:06.988Z,1751053626.988 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.003607
2025-06-27T19:47:07.239Z,1751053627.239 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.255402
2025-06-27T19:47:07.491Z,1751053627.491 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.507424
2025-06-27T19:47:07.744Z,1751053627.744 [DAT](INFO): DAT read: Rx Time:19:47:06.1278

2025-06-27T19:47:07.744Z,1751053627.744 [DAT](INFO): Rx dataTimestamp_ set to:1751053627.743706
2025-06-27T19:47:07.745Z,1751053627.745 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.760598
2025-06-27T19:47:07.996Z,1751053627.996 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.011832
2025-06-27T19:47:08.262Z,1751053628.262 [DAT](INFO): DAT read: 19:47:06.1278 LVL= 20784, 30481, 25426, 32755, AGC= 46, IDX= 433,-0.29,-0.469, 1.498, 0.387, 1.198, PHS=-1.579, 0.346,-0.815, RAW= 306.8,  23.3, CAL= 312.2,  27.8, ROT= 197.8, -27.8

2025-06-27T19:47:08.267Z,1751053628.267 [DAT](INFO): got valid direction response:
 19:47:06.1278 LVL= 20784, 30481, 25426, 32755, AGC= 46, IDX= 433,-0.29,-0.469, 1.498, 0.387, 1.198, PHS=-1.579, 0.346,-0.815, RAW= 306.8,  23.3, CAL= 312.2,  27.8, ROT= 197.8, -27.8

2025-06-27T19:47:08.274Z,1751053628.274 [DAT](INFO): DAT read: Bearing 197.8, -27.8 (Local)

2025-06-27T19:47:08.275Z,1751053628.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.8, -27.8 (Local)

2025-06-27T19:47:08.276Z,1751053628.276 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:08.277Z,1751053628.277 [DAT](INFO): DAT read: user:2758>

2025-06-27T19:47:08.278Z,1751053628.278 [DAT](INFO): DAT read: Tx time:19:47:07.2215

2025-06-27T19:47:08.287Z,1751053628.287 [DAT](INFO): Ping request sent.
2025-06-27T19:47:08.287Z,1751053628.287 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:08.289Z,1751053628.289 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-06-27T19:47:08.295Z,1751053628.295 [DAT](INFO): direction in FSK: [-0.842236,-0.270412,0.466387]
2025-06-27T19:47:08.295Z,1751053628.295 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:08.296Z,1751053628.296 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:08.303Z,1751053628.303 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:08.304Z,1751053628.304 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:08.313Z,1751053628.313 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.025988
2025-06-27T19:47:08.499Z,1751053628.499 [DAT](INFO): DAT read: TxSync time:19:47:07.2208

2025-06-27T19:47:08.500Z,1751053628.500 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.213671
2025-06-27T19:47:08.751Z,1751053628.751 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.464783
2025-06-27T19:47:09.004Z,1751053629.004 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.717474
2025-06-27T19:47:09.255Z,1751053629.255 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.968733
2025-06-27T19:47:09.507Z,1751053629.507 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.220809
2025-06-27T19:47:09.759Z,1751053629.759 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.472778
2025-06-27T19:47:10.013Z,1751053630.013 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.726514
2025-06-27T19:47:10.264Z,1751053630.264 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.977346
2025-06-27T19:47:10.515Z,1751053630.515 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.228773
2025-06-27T19:47:10.768Z,1751053630.768 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.481780
2025-06-27T19:47:11.020Z,1751053631.020 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.733114
2025-06-27T19:47:11.271Z,1751053631.271 [DAT](INFO): DAT read: Rx Time:19:47:09.6280

2025-06-27T19:47:11.272Z,1751053631.272 [DAT](INFO): Rx dataTimestamp_ set to:1751053631.271608
2025-06-27T19:47:11.272Z,1751053631.272 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.985874
2025-06-27T19:47:11.523Z,1751053631.523 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.236689
2025-06-27T19:47:11.776Z,1751053631.776 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:47:11.777Z,1751053631.777 [DAT](INFO): DAT read: user:2759>

2025-06-27T19:47:11.778Z,1751053631.778 [DAT](INFO): DAT read: Tx time:19:47:10.7216

2025-06-27T19:47:11.778Z,1751053631.778 [DAT](INFO): Ping request sent.
2025-06-27T19:47:11.778Z,1751053631.778 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:11.779Z,1751053631.779 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-06-27T19:47:11.779Z,1751053631.779 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:11.779Z,1751053631.779 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:11.780Z,1751053631.780 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.001920
2025-06-27T19:47:12.028Z,1751053632.028 [DAT](INFO): DAT read: TxSync time:19:47:10.7208

2025-06-27T19:47:12.028Z,1751053632.028 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.250054
2025-06-27T19:47:12.281Z,1751053632.281 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.501975
2025-06-27T19:47:12.531Z,1751053632.531 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.752939
2025-06-27T19:47:12.783Z,1751053632.783 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.004979
2025-06-27T19:47:13.035Z,1751053633.035 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.256981
2025-06-27T19:47:13.287Z,1751053633.287 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.508938
2025-06-27T19:47:13.539Z,1751053633.539 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.760968
2025-06-27T19:47:13.795Z,1751053633.795 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.016399
2025-06-27T19:47:14.043Z,1751053634.043 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.264924
2025-06-27T19:47:14.295Z,1751053634.295 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.517083
2025-06-27T19:47:14.548Z,1751053634.548 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.769178
2025-06-27T19:47:14.799Z,1751053634.799 [DAT](INFO): DAT read: Rx Time:19:47:13.1281

2025-06-27T19:47:14.800Z,1751053634.800 [DAT](INFO): Rx dataTimestamp_ set to:1751053634.799592
2025-06-27T19:47:14.800Z,1751053634.800 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.022046
2025-06-27T19:47:15.056Z,1751053635.056 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.277513
2025-06-27T19:47:15.308Z,1751053635.308 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:47:15.309Z,1751053635.309 [DAT](INFO): DAT read: user:2760>

2025-06-27T19:47:15.310Z,1751053635.310 [DAT](INFO): DAT read: Tx time:19:47:14.2216

2025-06-27T19:47:15.310Z,1751053635.310 [DAT](INFO): Ping request sent.
2025-06-27T19:47:15.310Z,1751053635.310 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:15.311Z,1751053635.311 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-06-27T19:47:15.311Z,1751053635.311 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:15.311Z,1751053635.311 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:15.312Z,1751053635.312 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.002161
2025-06-27T19:47:15.559Z,1751053635.559 [DAT](INFO): DAT read: TxSync time:19:47:14.2208

2025-06-27T19:47:15.560Z,1751053635.560 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.250116
2025-06-27T19:47:15.811Z,1751053635.811 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.501208
2025-06-27T19:47:16.063Z,1751053636.063 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.753205
2025-06-27T19:47:16.316Z,1751053636.316 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.005566
2025-06-27T19:47:16.567Z,1751053636.567 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.257232
2025-06-27T19:47:16.820Z,1751053636.820 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.509715
2025-06-27T19:47:17.071Z,1751053637.071 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.761288
2025-06-27T19:47:17.324Z,1751053637.324 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.013363
2025-06-27T19:47:17.575Z,1751053637.575 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.265149
2025-06-27T19:47:17.827Z,1751053637.827 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.517221
2025-06-27T19:47:18.079Z,1751053638.079 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.769222
2025-06-27T19:47:18.345Z,1751053638.345 [DAT](INFO): DAT read: Rx Time:19:47:16.6279

2025-06-27T19:47:18.346Z,1751053638.346 [DAT](INFO): Rx dataTimestamp_ set to:1751053638.345295
2025-06-27T19:47:18.348Z,1751053638.348 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.037371
2025-06-27T19:47:18.595Z,1751053638.595 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.285160
2025-06-27T19:47:18.853Z,1751053638.853 [DAT](INFO): DAT read: 19:47:16.6279 LVL= 20464, 31905, 24754, 32755, AGC= 47, IDX= 433,-0.26, 3.119,-1.351,-2.452,-1.666, PHS=-1.410, 0.362,-0.789, RAW= 309.8,  22.6, CAL= 314.7,  27.1, ROT= 195.3, -27.1

2025-06-27T19:47:18.854Z,1751053638.854 [DAT](INFO): got valid direction response:
 19:47:16.6279 LVL= 20464, 31905, 24754, 32755, AGC= 47, IDX= 433,-0.26, 3.119,-1.351,-2.452,-1.666, PHS=-1.410, 0.362,-0.789, RAW= 309.8,  22.6, CAL= 314.7,  27.1, ROT= 195.3, -27.1

2025-06-27T19:47:18.855Z,1751053638.855 [DAT](INFO): DAT read: Bearing 195.3, -27.1 (Local)

2025-06-27T19:47:18.856Z,1751053638.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.3, -27.1 (Local)

2025-06-27T19:47:18.857Z,1751053638.857 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:18.858Z,1751053638.858 [DAT](INFO): DAT read: user:2761>

2025-06-27T19:47:18.859Z,1751053638.859 [DAT](INFO): DAT read: Tx time:19:47:17.7216

2025-06-27T19:47:18.859Z,1751053638.859 [DAT](INFO): Ping request sent.
2025-06-27T19:47:18.859Z,1751053638.859 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:18.859Z,1751053638.859 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-06-27T19:47:18.860Z,1751053638.860 [DAT](INFO): direction in FSK: [-0.858661,-0.234903,0.455545]
2025-06-27T19:47:18.861Z,1751053638.861 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:18.861Z,1751053638.861 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:18.865Z,1751053638.865 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:18.866Z,1751053638.866 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:18.869Z,1751053638.869 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.009832
2025-06-27T19:47:19.100Z,1751053639.100 [DAT](INFO): DAT read: TxSync time:19:47:17.7208

2025-06-27T19:47:19.100Z,1751053639.100 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.241180
2025-06-27T19:47:19.351Z,1751053639.351 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.492221
2025-06-27T19:47:19.603Z,1751053639.603 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.744209
2025-06-27T19:47:19.855Z,1751053639.855 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.996198
2025-06-27T19:47:20.110Z,1751053640.110 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.251029
2025-06-27T19:47:20.359Z,1751053640.359 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.500217
2025-06-27T19:47:20.611Z,1751053640.611 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.752122
2025-06-27T19:47:20.864Z,1751053640.864 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.004451
2025-06-27T19:47:21.115Z,1751053641.115 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.256319
2025-06-27T19:47:21.367Z,1751053641.367 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.508216
2025-06-27T19:47:21.619Z,1751053641.619 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.760203
2025-06-27T19:47:21.872Z,1751053641.872 [DAT](INFO): DAT read: Rx Time:19:47:20.1279

2025-06-27T19:47:21.872Z,1751053641.872 [DAT](INFO): Rx dataTimestamp_ set to:1751053641.872158
2025-06-27T19:47:21.873Z,1751053641.873 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.013861
2025-06-27T19:47:22.123Z,1751053642.123 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.264145
2025-06-27T19:47:22.383Z,1751053642.383 [DAT](INFO): DAT read: 19:47:20.1279 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 432, 0.18,-1.801, 0.632,-0.828, 0.107, PHS=-1.820, 0.571,-0.938, RAW= 308.6,  20.3, CAL= 313.3,  25.5, ROT= 196.7, -25.5

2025-06-27T19:47:22.385Z,1751053642.385 [DAT](INFO): got valid direction response:
 19:47:20.1279 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 432, 0.18,-1.801, 0.632,-0.828, 0.107, PHS=-1.820, 0.571,-0.938, RAW= 308.6,  20.3, CAL= 313.3,  25.5, ROT= 196.7, -25.5

2025-06-27T19:47:22.385Z,1751053642.385 [DAT](INFO): DAT read: Bearing 196.7, -25.5 (Local)

2025-06-27T19:47:22.386Z,1751053642.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.7, -25.5 (Local)

2025-06-27T19:47:22.388Z,1751053642.388 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed -0.1 m/s

2025-06-27T19:47:22.389Z,1751053642.389 [DAT](INFO): DAT read: user:2762>e:19:47:21.2216

2025-06-27T19:47:22.390Z,1751053642.390 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-06-27T19:47:22.408Z,1751053642.408 [DAT](INFO): direction in FSK: [-0.864517,-0.259367,0.430511]
2025-06-27T19:47:22.408Z,1751053642.408 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:22.413Z,1751053642.413 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.554312
2025-06-27T19:47:22.627Z,1751053642.627 [DAT](INFO): DAT read: TxSync time:19:47:21.2208

2025-06-27T19:47:22.628Z,1751053642.628 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.769127
2025-06-27T19:47:22.879Z,1751053642.879 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.020185
2025-06-27T19:47:23.131Z,1751053643.131 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.272266
2025-06-27T19:47:23.383Z,1751053643.383 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.524311
2025-06-27T19:47:23.635Z,1751053643.635 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=4.776296
2025-06-27T19:47:23.887Z,1751053643.887 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.028206
2025-06-27T19:47:24.139Z,1751053644.139 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.280251
2025-06-27T19:47:24.391Z,1751053644.391 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.532195
2025-06-27T19:47:24.643Z,1751053644.643 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=5.784146
2025-06-27T19:47:24.896Z,1751053644.896 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.036443
2025-06-27T19:47:25.150Z,1751053645.150 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.290085
2025-06-27T19:47:25.399Z,1751053645.399 [DAT](INFO): DAT read: Rx Time:19:47:23.6279

2025-06-27T19:47:25.400Z,1751053645.400 [DAT](INFO): Rx dataTimestamp_ set to:1751053645.399586
2025-06-27T19:47:25.400Z,1751053645.400 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.541298
2025-06-27T19:47:25.652Z,1751053645.652 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=6.792358
2025-06-27T19:47:25.904Z,1751053645.904 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:25.905Z,1751053645.905 [DAT](INFO): DAT read: user:2763>

2025-06-27T19:47:25.906Z,1751053645.906 [DAT](INFO): DAT read: Tx time:19:47:24.7216

2025-06-27T19:47:25.906Z,1751053645.906 [DAT](INFO): Ping request sent.
2025-06-27T19:47:25.906Z,1751053645.906 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:25.907Z,1751053645.907 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-06-27T19:47:25.907Z,1751053645.907 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:25.907Z,1751053645.907 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:25.908Z,1751053645.908 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.002031
2025-06-27T19:47:26.156Z,1751053646.156 [DAT](INFO): DAT read: TxSync time:19:47:24.7208

2025-06-27T19:47:26.156Z,1751053646.156 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.250114
2025-06-27T19:47:26.407Z,1751053646.407 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.501278
2025-06-27T19:47:26.659Z,1751053646.659 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.753128
2025-06-27T19:47:26.911Z,1751053646.911 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.005147
2025-06-27T19:47:27.166Z,1751053647.166 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.259347
2025-06-27T19:47:27.415Z,1751053647.415 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.509103
2025-06-27T19:47:27.668Z,1751053647.668 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.761342
2025-06-27T19:47:27.919Z,1751053647.919 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.013223
2025-06-27T19:47:28.174Z,1751053648.174 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.267272
2025-06-27T19:47:28.423Z,1751053648.423 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.517221
2025-06-27T19:47:28.675Z,1751053648.675 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.769185
2025-06-27T19:47:28.927Z,1751053648.927 [DAT](INFO): DAT read: Rx Time:19:47:27.1283

2025-06-27T19:47:28.928Z,1751053648.928 [DAT](INFO): Rx dataTimestamp_ set to:1751053648.927556
2025-06-27T19:47:28.928Z,1751053648.928 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.022201
2025-06-27T19:47:29.183Z,1751053649.183 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.275765
2025-06-27T19:47:29.432Z,1751053649.432 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:47:29.433Z,1751053649.433 [DAT](INFO): DAT read: user:2764>

2025-06-27T19:47:29.434Z,1751053649.434 [DAT](INFO): DAT read: Tx time:19:47:28.2217

2025-06-27T19:47:29.435Z,1751053649.435 [DAT](INFO): Ping request sent.
2025-06-27T19:47:29.435Z,1751053649.435 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:29.436Z,1751053649.436 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-06-27T19:47:29.436Z,1751053649.436 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:29.436Z,1751053649.436 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:29.437Z,1751053649.437 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.001908
2025-06-27T19:47:29.684Z,1751053649.684 [DAT](INFO): DAT read: TxSync time:19:47:28.2209

2025-06-27T19:47:29.684Z,1751053649.684 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.249010
2025-06-27T19:47:29.935Z,1751053649.935 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.500046
2025-06-27T19:47:30.190Z,1751053650.190 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.754277
2025-06-27T19:47:30.439Z,1751053650.439 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.004111
2025-06-27T19:47:30.691Z,1751053650.691 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.256050
2025-06-27T19:47:30.943Z,1751053650.943 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.508103
2025-06-27T19:47:31.199Z,1751053651.199 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.762475
2025-06-27T19:47:31.447Z,1751053651.447 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.012027
2025-06-27T19:47:31.699Z,1751053651.699 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.264183
2025-06-27T19:47:31.952Z,1751053651.952 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.516804
2025-06-27T19:47:32.205Z,1751053652.205 [DAT](INFO): DAT read: Rx Time:19:47:30.6281

2025-06-27T19:47:32.207Z,1751053652.207 [DAT](INFO): Rx dataTimestamp_ set to:1751053652.205972
2025-06-27T19:47:32.209Z,1751053652.209 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.772937
2025-06-27T19:47:32.455Z,1751053652.455 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.020017
2025-06-27T19:47:32.707Z,1751053652.707 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.271973
2025-06-27T19:47:32.966Z,1751053652.966 [DAT](INFO): DAT read: 19:47:30.6281 LVL= 23696, 32753, 31074, 32755, AGC= 45, IDX= 433, 0.07, 2.833,-1.463,-2.507,-1.605, PHS=-1.758, 0.189,-0.905, RAW= 304.1,  27.4, CAL= 310.5,  30.9, ROT= 199.5, -30.9

2025-06-27T19:47:32.967Z,1751053652.967 [DAT](INFO): got valid direction response:
 19:47:30.6281 LVL= 23696, 32753, 31074, 32755, AGC= 45, IDX= 433, 0.07, 2.833,-1.463,-2.507,-1.605, PHS=-1.758, 0.189,-0.905, RAW= 304.1,  27.4, CAL= 310.5,  30.9, ROT= 199.5, -30.9

2025-06-27T19:47:32.968Z,1751053652.968 [DAT](INFO): DAT read: Bearing 199.5, -30.9 (Local)

2025-06-27T19:47:32.968Z,1751053652.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.5, -30.9 (Local)

2025-06-27T19:47:32.970Z,1751053652.970 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:47:32.971Z,1751053652.971 [DAT](INFO): DAT read: user:2765>

2025-06-27T19:47:32.971Z,1751053652.971 [DAT](INFO): DAT read: Tx time:19:47:31.7217

2025-06-27T19:47:32.972Z,1751053652.972 [DAT](INFO): Ping request sent.
2025-06-27T19:47:32.972Z,1751053652.972 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:32.972Z,1751053652.972 [DAT](INFO): DAT read: TxSync time:19:47:31.7209

2025-06-27T19:47:32.973Z,1751053652.973 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-06-27T19:47:32.974Z,1751053652.974 [DAT](INFO): direction in FSK: [-0.808848,-0.286428,0.513541]
2025-06-27T19:47:32.987Z,1751053652.987 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:32.987Z,1751053652.987 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:32.992Z,1751053652.992 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:32.992Z,1751053652.992 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:33.032Z,1751053653.032 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.060559
2025-06-27T19:47:33.214Z,1751053653.214 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.241788
2025-06-27T19:47:33.463Z,1751053653.463 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.491559
2025-06-27T19:47:33.716Z,1751053653.716 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.744652
2025-06-27T19:47:33.967Z,1751053653.967 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.995610
2025-06-27T19:47:34.222Z,1751053654.222 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.249623
2025-06-27T19:47:34.471Z,1751053654.471 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.499653
2025-06-27T19:47:34.723Z,1751053654.723 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.751639
2025-06-27T19:47:34.975Z,1751053654.975 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.003447
2025-06-27T19:47:35.227Z,1751053655.227 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.255523
2025-06-27T19:47:35.479Z,1751053655.479 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.507644
2025-06-27T19:47:35.731Z,1751053655.731 [DAT](INFO): DAT read: Rx Time:19:47:34.1280

2025-06-27T19:47:35.732Z,1751053655.732 [DAT](INFO): Rx dataTimestamp_ set to:1751053655.731675
2025-06-27T19:47:35.732Z,1751053655.732 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.760740
2025-06-27T19:47:35.984Z,1751053655.984 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.011875
2025-06-27T19:47:36.241Z,1751053656.241 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:36.243Z,1751053656.243 [DAT](INFO): DAT read: user:2766>

2025-06-27T19:47:36.245Z,1751053656.245 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-06-27T19:47:36.248Z,1751053656.248 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.276235
2025-06-27T19:47:36.488Z,1751053656.488 [DAT](INFO): DAT read: Tx time:19:47:35.2217

2025-06-27T19:47:36.488Z,1751053656.488 [DAT](INFO): Ping request sent.
2025-06-27T19:47:36.488Z,1751053656.488 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:36.489Z,1751053656.489 [DAT](INFO): DAT read: TxSync time:19:47:35.2209

2025-06-27T19:47:36.489Z,1751053656.489 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:36.490Z,1751053656.490 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.001609
2025-06-27T19:47:36.739Z,1751053656.739 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.251343
2025-06-27T19:47:36.992Z,1751053656.992 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.503814
2025-06-27T19:47:37.243Z,1751053657.243 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.755309
2025-06-27T19:47:37.355Z,1751053657.355 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  79.05,  77.04,  76.68
2025-06-27T19:47:37.496Z,1751053657.496 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.007632
2025-06-27T19:47:37.748Z,1751053657.748 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.260401
2025-06-27T19:47:37.000Z,1751053658.000 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.511869
2025-06-27T19:47:38.252Z,1751053658.252 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.764291
2025-06-27T19:47:38.503Z,1751053658.503 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.015366
2025-06-27T19:47:38.755Z,1751053658.755 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.267347
2025-06-27T19:47:39.008Z,1751053659.008 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.520290
2025-06-27T19:47:39.260Z,1751053659.260 [DAT](INFO): DAT read: Rx Time:19:47:37.6282

2025-06-27T19:47:39.260Z,1751053659.260 [DAT](INFO): Rx dataTimestamp_ set to:1751053659.259755
2025-06-27T19:47:39.261Z,1751053659.261 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.772618
2025-06-27T19:47:39.511Z,1751053659.511 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=3.023362
2025-06-27T19:47:39.777Z,1751053659.777 [DAT](INFO): DAT read: 19:47:37.6282 LVL= 24864, 26001, 32754, 32755, AGC= 48, IDX= 433, 0.28, 2.912,-1.309,-2.568,-1.564, PHS=-1.719, 0.302,-1.006, RAW= 309.7,  25.8, CAL= 315.0,  29.4, ROT= 195.0, -29.4

2025-06-27T19:47:39.778Z,1751053659.778 [DAT](INFO): got valid direction response:
 19:47:37.6282 LVL= 24864, 26001, 32754, 32755, AGC= 48, IDX= 433, 0.28, 2.912,-1.309,-2.568,-1.564, PHS=-1.719, 0.302,-1.006, RAW= 309.7,  25.8, CAL= 315.0,  29.4, ROT= 195.0, -29.4

2025-06-27T19:47:39.779Z,1751053659.779 [DAT](INFO): DAT read: Bearing 195.0, -29.4 (Local)

2025-06-27T19:47:39.779Z,1751053659.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.0, -29.4 (Local)

2025-06-27T19:47:39.781Z,1751053659.781 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed -0.1 m/s

2025-06-27T19:47:39.781Z,1751053659.781 [DAT](INFO): DAT read: user:2767>

2025-06-27T19:47:39.798Z,1751053659.798 [DAT](INFO): DAT read: Tx time:19:47:38.7218

2025-06-27T19:47:39.799Z,1751053659.799 [DAT](INFO): Ping request sent.
2025-06-27T19:47:39.799Z,1751053659.799 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:39.799Z,1751053659.799 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-06-27T19:47:39.800Z,1751053659.800 [DAT](INFO): direction in FSK: [-0.841528,-0.225487,0.490904]
2025-06-27T19:47:39.800Z,1751053659.800 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:39.801Z,1751053659.801 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:39.824Z,1751053659.824 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:39.824Z,1751053659.824 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:39.836Z,1751053659.836 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.037121
2025-06-27T19:47:40.016Z,1751053660.016 [DAT](INFO): DAT read: TxSync time:19:47:38.7210

2025-06-27T19:47:40.017Z,1751053660.017 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.218458
2025-06-27T19:47:40.267Z,1751053660.267 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.468388
2025-06-27T19:47:40.519Z,1751053660.519 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.720474
2025-06-27T19:47:40.771Z,1751053660.771 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=0.972444
2025-06-27T19:47:41.025Z,1751053661.025 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.225330
2025-06-27T19:47:41.275Z,1751053661.275 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.476438
2025-06-27T19:47:41.527Z,1751053661.527 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.728468
2025-06-27T19:47:41.779Z,1751053661.779 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=1.980517
2025-06-27T19:47:42.031Z,1751053662.031 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.232450
2025-06-27T19:47:42.284Z,1751053662.284 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.485512
2025-06-27T19:47:42.535Z,1751053662.535 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.736464
2025-06-27T19:47:42.787Z,1751053662.787 [DAT](INFO): DAT read: Rx Time:19:47:41.1282

2025-06-27T19:47:42.788Z,1751053662.788 [DAT](INFO): Rx dataTimestamp_ set to:1751053662.787639
2025-06-27T19:47:42.788Z,1751053662.788 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.989608
2025-06-27T19:47:43.039Z,1751053663.039 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=3.240440
2025-06-27T19:47:43.292Z,1751053663.292 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed -0.1 m/s

2025-06-27T19:47:43.293Z,1751053663.293 [DAT](INFO): DAT read: user:2768>

2025-06-27T19:47:43.294Z,1751053663.294 [DAT](INFO): DAT read: Tx time:19:47:42.2218

2025-06-27T19:47:43.294Z,1751053663.294 [DAT](INFO): Ping request sent.
2025-06-27T19:47:43.294Z,1751053663.294 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:43.295Z,1751053663.295 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-06-27T19:47:43.295Z,1751053663.295 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:43.295Z,1751053663.295 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:43.296Z,1751053663.296 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.002005
2025-06-27T19:47:43.544Z,1751053663.544 [DAT](INFO): DAT read: TxSync time:19:47:42.2210

2025-06-27T19:47:43.545Z,1751053663.545 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.250982
2025-06-27T19:47:43.796Z,1751053663.796 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.501377
2025-06-27T19:47:44.047Z,1751053664.047 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=0.753085
2025-06-27T19:47:44.300Z,1751053664.300 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.005811
2025-06-27T19:47:44.551Z,1751053664.551 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.257305
2025-06-27T19:47:44.803Z,1751053664.803 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.509131
2025-06-27T19:47:45.056Z,1751053665.056 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=1.761423
2025-06-27T19:47:45.307Z,1751053665.307 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.013255
2025-06-27T19:47:45.559Z,1751053665.559 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.265126
2025-06-27T19:47:45.816Z,1751053665.816 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.521881
2025-06-27T19:47:46.067Z,1751053666.067 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=2.773214
2025-06-27T19:47:46.319Z,1751053666.319 [DAT](INFO): DAT read: Rx Time:19:47:44.6284

2025-06-27T19:47:46.320Z,1751053666.320 [DAT](INFO): Rx dataTimestamp_ set to:1751053666.319572
2025-06-27T19:47:46.320Z,1751053666.320 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.026252
2025-06-27T19:47:46.571Z,1751053666.571 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.277269
2025-06-27T19:47:46.824Z,1751053666.824 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:47:46.825Z,1751053666.825 [DAT](INFO): DAT read: user:2769>

2025-06-27T19:47:46.826Z,1751053666.826 [DAT](INFO): DAT read: Tx time:19:47:45.7218

2025-06-27T19:47:46.826Z,1751053666.826 [DAT](INFO): Ping request sent.
2025-06-27T19:47:46.826Z,1751053666.826 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:46.827Z,1751053666.827 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-06-27T19:47:46.827Z,1751053666.827 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:46.827Z,1751053666.827 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:46.828Z,1751053666.828 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.001927
2025-06-27T19:47:47.076Z,1751053667.076 [DAT](INFO): DAT read: TxSync time:19:47:45.7210

2025-06-27T19:47:47.076Z,1751053667.076 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.250012
2025-06-27T19:47:47.327Z,1751053667.327 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.500886
2025-06-27T19:47:47.580Z,1751053667.580 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=0.753360
2025-06-27T19:47:47.831Z,1751053667.831 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.004947
2025-06-27T19:47:48.083Z,1751053668.083 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.256896
2025-06-27T19:47:48.335Z,1751053668.335 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.508946
2025-06-27T19:47:48.587Z,1751053668.587 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=1.760960
2025-06-27T19:47:48.839Z,1751053668.839 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.012862
2025-06-27T19:47:49.091Z,1751053669.091 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.264941
2025-06-27T19:47:49.343Z,1751053669.343 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.516880
2025-06-27T19:47:49.595Z,1751053669.595 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=2.768908
2025-06-27T19:47:49.847Z,1751053669.847 [DAT](INFO): DAT read: Rx Time:19:47:48.1283

2025-06-27T19:47:49.848Z,1751053669.848 [DAT](INFO): Rx dataTimestamp_ set to:1751053669.847588
2025-06-27T19:47:49.848Z,1751053669.848 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.021997
2025-06-27T19:47:50.099Z,1751053670.099 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.272920
2025-06-27T19:47:50.357Z,1751053670.357 [DAT](INFO): DAT read: 19:47:48.1283 LVL= 23856, 31793, 28082, 32755, AGC= 44, IDX= 433, 0.24, 0.163, 2.301, 1.135, 2.064, PHS=-1.813, 0.284,-0.932, RAW= 305.3,  25.5, CAL= 311.2,  29.5, ROT= 198.8, -29.5

2025-06-27T19:47:50.359Z,1751053670.359 [DAT](INFO): got valid direction response:
 19:47:48.1283 LVL= 23856, 31793, 28082, 32755, AGC= 44, IDX= 433, 0.24, 0.163, 2.301, 1.135, 2.064, PHS=-1.813, 0.284,-0.932, RAW= 305.3,  25.5, CAL= 311.2,  29.5, ROT= 198.8, -29.5

2025-06-27T19:47:50.359Z,1751053670.359 [DAT](INFO): DAT read: Bearing 198.8, -29.5 (Local)

2025-06-27T19:47:50.360Z,1751053670.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8, -29.5 (Local)

2025-06-27T19:47:50.361Z,1751053670.361 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:47:50.362Z,1751053670.362 [DAT](INFO): DAT read: user:2770>

2025-06-27T19:47:50.363Z,1751053670.363 [DAT](INFO): DAT read: Tx time:19:47:49.2219

2025-06-27T19:47:50.363Z,1751053670.363 [DAT](INFO): Ping request sent.
2025-06-27T19:47:50.363Z,1751053670.363 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:50.364Z,1751053670.364 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-06-27T19:47:50.365Z,1751053670.365 [DAT](INFO): direction in FSK: [-0.823922,-0.280486,0.492424]
2025-06-27T19:47:50.365Z,1751053670.365 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:50.365Z,1751053670.365 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:50.368Z,1751053670.368 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:50.369Z,1751053670.369 [DAT](INFO): publishing direction and range info
2025-06-27T19:47:50.393Z,1751053670.393 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.029719
2025-06-27T19:47:50.603Z,1751053670.603 [DAT](INFO): DAT read: TxSync time:19:47:49.2211

2025-06-27T19:47:50.604Z,1751053670.604 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.240853
2025-06-27T19:47:50.855Z,1751053670.855 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.492030
2025-06-27T19:47:51.108Z,1751053671.108 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.744181
2025-06-27T19:47:51.359Z,1751053671.359 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=0.996064
2025-06-27T19:47:51.612Z,1751053671.612 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.248568
2025-06-27T19:47:51.864Z,1751053671.864 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.500816
2025-06-27T19:47:52.115Z,1751053672.115 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=1.752074
2025-06-27T19:47:52.367Z,1751053672.367 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.004020
2025-06-27T19:47:52.619Z,1751053672.619 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.256032
2025-06-27T19:47:52.872Z,1751053672.872 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.508888
2025-06-27T19:47:53.123Z,1751053673.123 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=2.760068
2025-06-27T19:47:53.375Z,1751053673.375 [DAT](INFO): DAT read: Rx Time:19:47:51.6282

2025-06-27T19:47:53.376Z,1751053673.376 [DAT](INFO): Rx dataTimestamp_ set to:1751053673.375581
2025-06-27T19:47:53.376Z,1751053673.376 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.013103
2025-06-27T19:47:53.627Z,1751053673.627 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=3.264056
2025-06-27T19:47:53.880Z,1751053673.880 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:47:53.881Z,1751053673.881 [DAT](INFO): DAT read: user:2771>

2025-06-27T19:47:53.882Z,1751053673.882 [DAT](INFO): DAT read: Tx time:19:47:52.7219

2025-06-27T19:47:53.882Z,1751053673.882 [DAT](INFO): Ping request sent.
2025-06-27T19:47:53.882Z,1751053673.882 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:53.883Z,1751053673.883 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-06-27T19:47:53.883Z,1751053673.883 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:53.883Z,1751053673.883 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:53.884Z,1751053673.884 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.001909
2025-06-27T19:47:54.131Z,1751053674.131 [DAT](INFO): DAT read: TxSync time:19:47:52.7211

2025-06-27T19:47:54.132Z,1751053674.132 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.249846
2025-06-27T19:47:54.383Z,1751053674.383 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.500911
2025-06-27T19:47:54.636Z,1751053674.636 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=0.753165
2025-06-27T19:47:54.888Z,1751053674.888 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.005092
2025-06-27T19:47:55.141Z,1751053675.141 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.258233
2025-06-27T19:47:55.391Z,1751053675.391 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.508880
2025-06-27T19:47:55.643Z,1751053675.643 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=1.760954
2025-06-27T19:47:55.895Z,1751053675.895 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.012973
2025-06-27T19:47:56.147Z,1751053676.147 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.264911
2025-06-27T19:47:56.399Z,1751053676.399 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.516918
2025-06-27T19:47:56.651Z,1751053676.651 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=2.769027
2025-06-27T19:47:56.903Z,1751053676.903 [DAT](INFO): DAT read: Rx Time:19:47:55.1285

2025-06-27T19:47:56.904Z,1751053676.904 [DAT](INFO): Rx dataTimestamp_ set to:1751053676.903557
2025-06-27T19:47:56.904Z,1751053676.904 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.021993
2025-06-27T19:47:57.156Z,1751053677.156 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=3.273238
2025-06-27T19:47:57.410Z,1751053677.410 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:47:57.411Z,1751053677.411 [DAT](INFO): DAT read: user:2772>

2025-06-27T19:47:57.412Z,1751053677.412 [DAT](INFO): DAT read: Tx time:19:47:56.2219

2025-06-27T19:47:57.413Z,1751053677.413 [DAT](INFO): Ping request sent.
2025-06-27T19:47:57.413Z,1751053677.413 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:47:57.413Z,1751053677.413 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-06-27T19:47:57.413Z,1751053677.413 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:57.414Z,1751053677.414 [DAT](INFO): publishing transmit ping time
2025-06-27T19:47:57.416Z,1751053677.416 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.003291
2025-06-27T19:47:57.659Z,1751053677.659 [DAT](INFO): DAT read: TxSync time:19:47:56.2211

2025-06-27T19:47:57.660Z,1751053677.660 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.247618
2025-06-27T19:47:57.912Z,1751053677.912 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.498823
2025-06-27T19:47:58.163Z,1751053678.163 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=0.750710
2025-06-27T19:47:58.415Z,1751053678.415 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.002640
2025-06-27T19:47:58.667Z,1751053678.667 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.254610
2025-06-27T19:47:58.919Z,1751053678.919 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.506676
2025-06-27T19:47:59.171Z,1751053679.171 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=1.758691
2025-06-27T19:47:59.423Z,1751053679.423 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.010660
2025-06-27T19:47:59.676Z,1751053679.676 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=2.263167
2025-06-27T19:47:59.928Z,1751053679.928 [DAT](INFO): DAT read: Rx Time:19:47:58.3534 

2025-06-27T19:47:59.928Z,1751053679.928 [DAT](INFO): Rx dataTimestamp_ set to:1751053679.927845
2025-06-27T19:47:59.929Z,1751053679.929 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:47:59.930Z,1751053679.930 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-06-27T19:47:59.931Z,1751053679.931 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.518339
2025-06-27T19:48:00.179Z,1751053680.179 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=2.766673
2025-06-27T19:48:00.433Z,1751053680.433 [DAT](INFO): DAT read: Rx Time:19:47:58.8534 

2025-06-27T19:48:00.433Z,1751053680.433 [DAT](INFO): Rx dataTimestamp_ set to:1751053680.433171
2025-06-27T19:48:00.436Z,1751053680.436 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:00.436Z,1751053680.436 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-06-27T19:48:00.437Z,1751053680.437 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.024549
2025-06-27T19:48:00.687Z,1751053680.687 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=3.274551
2025-06-27T19:48:00.940Z,1751053680.940 [DAT](INFO): DAT read: Rx Time:19:47:59.3534 

2025-06-27T19:48:00.940Z,1751053680.940 [DAT](INFO): Rx dataTimestamp_ set to:1751053680.939962
2025-06-27T19:48:00.941Z,1751053680.941 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:00.942Z,1751053680.942 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-06-27T19:48:00.943Z,1751053680.943 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.530451
2025-06-27T19:48:01.192Z,1751053681.192 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=3.779695
2025-06-27T19:48:01.443Z,1751053681.443 [DAT](INFO): DAT read: Rx Time:19:47:59.8535 

2025-06-27T19:48:01.444Z,1751053681.444 [DAT](INFO): Rx dataTimestamp_ set to:1751053681.443670
2025-06-27T19:48:01.445Z,1751053681.445 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:01.446Z,1751053681.446 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-06-27T19:48:01.447Z,1751053681.447 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.034134
2025-06-27T19:48:01.703Z,1751053681.703 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=4.290790
2025-06-27T19:48:01.952Z,1751053681.952 [DAT](INFO): DAT read: Rx Time:19:48:00.3535 

2025-06-27T19:48:01.952Z,1751053681.952 [DAT](INFO): Rx dataTimestamp_ set to:1751053681.951876
2025-06-27T19:48:01.953Z,1751053681.953 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-06-27T19:48:01.954Z,1751053681.954 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-06-27T19:48:01.963Z,1751053681.963 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.550546
2025-06-27T19:48:02.203Z,1751053682.203 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=4.790637
2025-06-27T19:48:02.456Z,1751053682.456 [DAT](INFO): DAT read: Rx Time:19:48:00.8535 

2025-06-27T19:48:02.456Z,1751053682.456 [DAT](INFO): Rx dataTimestamp_ set to:1751053682.455714
2025-06-27T19:48:02.457Z,1751053682.457 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:02.458Z,1751053682.458 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-06-27T19:48:02.459Z,1751053682.459 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.046191
2025-06-27T19:48:02.707Z,1751053682.707 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=5.294674
2025-06-27T19:48:02.960Z,1751053682.960 [DAT](INFO): DAT read: Rx Time:19:48:01.3534 

2025-06-27T19:48:02.960Z,1751053682.960 [DAT](INFO): Rx dataTimestamp_ set to:1751053682.959721
2025-06-27T19:48:02.961Z,1751053682.961 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:02.962Z,1751053682.962 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-06-27T19:48:02.963Z,1751053682.963 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.550205
2025-06-27T19:48:03.212Z,1751053683.212 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=5.799722
2025-06-27T19:48:03.464Z,1751053683.464 [DAT](INFO): DAT read: Rx Time:19:48:01.8535 

2025-06-27T19:48:03.464Z,1751053683.464 [DAT](INFO): Rx dataTimestamp_ set to:1751053683.463718
2025-06-27T19:48:03.465Z,1751053683.465 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:03.466Z,1751053683.466 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-06-27T19:48:03.467Z,1751053683.467 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.054202
2025-06-27T19:48:03.720Z,1751053683.720 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=6.304925
2025-06-27T19:48:03.968Z,1751053683.968 [DAT](INFO): DAT read: Rx Time:19:48:02.3534 

2025-06-27T19:48:03.968Z,1751053683.968 [DAT](INFO): Rx dataTimestamp_ set to:1751053683.967977
2025-06-27T19:48:03.969Z,1751053683.969 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:03.970Z,1751053683.970 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-06-27T19:48:03.971Z,1751053683.971 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.558439
2025-06-27T19:48:04.219Z,1751053684.219 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=6.806736
2025-06-27T19:48:04.472Z,1751053684.472 [DAT](INFO): DAT read: Rx Time:19:48:02.8535 

2025-06-27T19:48:04.472Z,1751053684.472 [DAT](INFO): Rx dataTimestamp_ set to:1751053684.471760
2025-06-27T19:48:04.473Z,1751053684.473 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:04.474Z,1751053684.474 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-06-27T19:48:04.475Z,1751053684.475 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.062260
2025-06-27T19:48:04.726Z,1751053684.726 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=7.312428
2025-06-27T19:48:04.976Z,1751053684.976 [DAT](INFO): DAT read: Rx Time:19:48:03.3534 

2025-06-27T19:48:04.976Z,1751053684.976 [DAT](INFO): Rx dataTimestamp_ set to:1751053684.975770
2025-06-27T19:48:04.977Z,1751053684.977 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:04.978Z,1751053684.978 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-06-27T19:48:04.979Z,1751053684.979 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.566241
2025-06-27T19:48:05.228Z,1751053685.228 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=7.814967
2025-06-27T19:48:05.480Z,1751053685.480 [DAT](INFO): DAT read: Rx Time:19:48:03.8534 

2025-06-27T19:48:05.480Z,1751053685.480 [DAT](INFO): Rx dataTimestamp_ set to:1751053685.479719
2025-06-27T19:48:05.481Z,1751053685.481 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:05.482Z,1751053685.482 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-06-27T19:48:05.483Z,1751053685.483 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=8.070193
2025-06-27T19:48:05.734Z,1751053685.734 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=8.320799
2025-06-27T19:48:05.984Z,1751053685.984 [DAT](INFO): DAT read: Rx Time:19:48:04.3533 

2025-06-27T19:48:05.984Z,1751053685.984 [DAT](INFO): Rx dataTimestamp_ set to:1751053685.983773
2025-06-27T19:48:05.985Z,1751053685.985 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:05.986Z,1751053685.986 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-06-27T19:48:05.987Z,1751053685.987 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.574358
2025-06-27T19:48:06.235Z,1751053686.235 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=8.822672
2025-06-27T19:48:06.488Z,1751053686.488 [DAT](INFO): DAT read: Rx Time:19:48:04.8533 

2025-06-27T19:48:06.488Z,1751053686.488 [DAT](INFO): Rx dataTimestamp_ set to:1751053686.487804
2025-06-27T19:48:06.489Z,1751053686.489 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:06.490Z,1751053686.490 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-06-27T19:48:06.491Z,1751053686.491 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=9.078265
2025-06-27T19:48:06.742Z,1751053686.742 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=9.328702
2025-06-27T19:48:06.992Z,1751053686.992 [DAT](INFO): DAT read: Rx Time:19:48:05.3533 

2025-06-27T19:48:06.993Z,1751053686.993 [DAT](INFO): Rx dataTimestamp_ set to:1751053686.992331
2025-06-27T19:48:06.994Z,1751053686.994 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:06.995Z,1751053686.995 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-06-27T19:48:06.997Z,1751053686.997 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.583863
2025-06-27T19:48:07.244Z,1751053687.244 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=9.830862
2025-06-27T19:48:07.495Z,1751053687.495 [DAT](INFO): DAT read: Rx Time:19:48:05.8534 

2025-06-27T19:48:07.496Z,1751053687.496 [DAT](INFO): Rx dataTimestamp_ set to:1751053687.495673
2025-06-27T19:48:07.497Z,1751053687.497 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:07.498Z,1751053687.498 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-06-27T19:48:07.499Z,1751053687.499 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=10.086145
2025-06-27T19:48:07.752Z,1751053687.752 [DAT](INFO): DAT read: Rx Time:19:48:06.3533 

2025-06-27T19:48:07.754Z,1751053687.754 [DAT](INFO): Rx dataTimestamp_ set to:1751053687.752869
2025-06-27T19:48:07.757Z,1751053687.757 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=10.343789
2025-06-27T19:48:08.001Z,1751053688.001 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:08.002Z,1751053688.002 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-06-27T19:48:08.004Z,1751053688.004 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.590639
2025-06-27T19:48:08.254Z,1751053688.254 [DAT](INFO): DAT read: Rx Time:19:48:06.8534 

2025-06-27T19:48:08.255Z,1751053688.255 [DAT](INFO): Rx dataTimestamp_ set to:1751053688.254596
2025-06-27T19:48:08.257Z,1751053688.257 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=10.844151
2025-06-27T19:48:08.504Z,1751053688.504 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:08.505Z,1751053688.505 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-06-27T19:48:08.506Z,1751053688.506 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=11.092872
2025-06-27T19:48:08.760Z,1751053688.760 [DAT](INFO): DAT read: Rx Time:19:48:07.3533 

2025-06-27T19:48:08.762Z,1751053688.762 [DAT](INFO): Rx dataTimestamp_ set to:1751053688.760985
2025-06-27T19:48:08.773Z,1751053688.773 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:08.795Z,1751053688.795 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-06-27T19:48:08.796Z,1751053688.796 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.383286
2025-06-27T19:48:09.008Z,1751053689.008 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=11.595229
2025-06-27T19:48:09.261Z,1751053689.261 [DAT](INFO): DAT read: Rx Time:19:48:07.8534 

2025-06-27T19:48:09.262Z,1751053689.262 [DAT](INFO): Rx dataTimestamp_ set to:1751053689.261562
2025-06-27T19:48:09.264Z,1751053689.264 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:09.265Z,1751053689.265 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-06-27T19:48:09.266Z,1751053689.266 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=11.853210
2025-06-27T19:48:09.511Z,1751053689.511 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=12.098680
2025-06-27T19:48:09.766Z,1751053689.766 [DAT](INFO): DAT read: Rx Time:19:48:08.3533 

2025-06-27T19:48:09.768Z,1751053689.768 [DAT](INFO): Rx dataTimestamp_ set to:1751053689.767077
2025-06-27T19:48:09.772Z,1751053689.772 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:09.774Z,1751053689.774 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-06-27T19:48:09.777Z,1751053689.777 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.363687
2025-06-27T19:48:10.016Z,1751053690.016 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=12.603076
2025-06-27T19:48:10.268Z,1751053690.268 [DAT](INFO): DAT read: Rx Time:19:48:08.8533 

2025-06-27T19:48:10.268Z,1751053690.268 [DAT](INFO): Rx dataTimestamp_ set to:1751053690.267782
2025-06-27T19:48:10.269Z,1751053690.269 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:10.270Z,1751053690.270 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-06-27T19:48:10.271Z,1751053690.271 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=12.858264
2025-06-27T19:48:10.519Z,1751053690.519 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=13.106649
2025-06-27T19:48:10.774Z,1751053690.774 [DAT](INFO): DAT read: Rx Time:19:48:09.3532 

2025-06-27T19:48:10.776Z,1751053690.776 [DAT](INFO): Rx dataTimestamp_ set to:1751053690.775041
2025-06-27T19:48:10.780Z,1751053690.780 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:10.790Z,1751053690.790 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-06-27T19:48:10.794Z,1751053690.794 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.380701
2025-06-27T19:48:11.028Z,1751053691.028 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=13.615009
2025-06-27T19:48:11.276Z,1751053691.276 [DAT](INFO): DAT read: Rx Time:19:48:09.8533 

2025-06-27T19:48:11.277Z,1751053691.277 [DAT](INFO): Rx dataTimestamp_ set to:1751053691.276129
2025-06-27T19:48:11.278Z,1751053691.278 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:11.279Z,1751053691.279 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-06-27T19:48:11.281Z,1751053691.281 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=13.867722
2025-06-27T19:48:11.527Z,1751053691.527 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=14.114668
2025-06-27T19:48:11.780Z,1751053691.780 [DAT](INFO): DAT read: Rx Time:19:48:10.3532 

2025-06-27T19:48:11.780Z,1751053691.780 [DAT](INFO): Rx dataTimestamp_ set to:1751053691.779750
2025-06-27T19:48:11.781Z,1751053691.781 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:11.782Z,1751053691.782 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-06-27T19:48:11.784Z,1751053691.784 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.371107
2025-06-27T19:48:12.031Z,1751053692.031 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=14.618708
2025-06-27T19:48:12.284Z,1751053692.284 [DAT](INFO): DAT read: Rx Time:19:48:10.8533 

2025-06-27T19:48:12.284Z,1751053692.284 [DAT](INFO): Rx dataTimestamp_ set to:1751053692.283692
2025-06-27T19:48:12.285Z,1751053692.285 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:12.286Z,1751053692.286 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-06-27T19:48:12.287Z,1751053692.287 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=14.874176
2025-06-27T19:48:12.535Z,1751053692.535 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=15.122621
2025-06-27T19:48:12.791Z,1751053692.791 [DAT](INFO): DAT read: Rx Time:19:48:11.3532 

2025-06-27T19:48:12.792Z,1751053692.792 [DAT](INFO): Rx dataTimestamp_ set to:1751053692.791306
2025-06-27T19:48:12.797Z,1751053692.797 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed -0.1

2025-06-27T19:48:12.799Z,1751053692.799 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-06-27T19:48:12.802Z,1751053692.802 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=15.388748
2025-06-27T19:48:13.039Z,1751053693.039 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=15.626665
2025-06-27T19:48:13.295Z,1751053693.295 [DAT](INFO): DAT read: Rx Time:19:48:11.8533 

2025-06-27T19:48:13.297Z,1751053693.297 [DAT](INFO): Rx dataTimestamp_ set to:1751053693.295883
2025-06-27T19:48:13.300Z,1751053693.300 [DAT](INFO): DAT read: Bearing 193.5, -12.1 (Local)

2025-06-27T19:48:13.301Z,1751053693.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.5, -12.1 (Local)

2025-06-27T19:48:13.306Z,1751053693.306 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:13.319Z,1751053693.319 [DAT](INFO): DAT read: 19:48:11.8533 LVL= 27952, 28129, 32754, 32755, AGC= 47, IDX= 512,-0.41,-2.341, 0.045,-1.558,-0.962, PHS=-1.291, 1.054,-0.599, RAW= 313.3,   8.1, CAL= 316.5,  12.1, ROT= 193.5, -12.1

2025-06-27T19:48:13.320Z,1751053693.320 [DAT](INFO): got valid direction response:
 19:48:11.8533 LVL= 27952, 28129, 32754, 32755, AGC= 47, IDX= 512,-0.41,-2.341, 0.045,-1.558,-0.962, PHS=-1.291, 1.054,-0.599, RAW= 313.3,   8.1, CAL= 316.5,  12.1, ROT= 193.5, -12.1

2025-06-27T19:48:13.320Z,1751053693.320 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-06-27T19:48:13.321Z,1751053693.321 [DAT](INFO): direction in FSK: [-0.950767,-0.228259,0.209619]
2025-06-27T19:48:13.322Z,1751053693.322 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:13.335Z,1751053693.335 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=15.922660
2025-06-27T19:48:13.543Z,1751053693.543 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=16.130606
2025-06-27T19:48:13.801Z,1751053693.801 [DAT](INFO): DAT read: Rx Time:19:48:12.3533 

2025-06-27T19:48:13.803Z,1751053693.803 [DAT](INFO): Rx dataTimestamp_ set to:1751053693.801786
2025-06-27T19:48:13.806Z,1751053693.806 [DAT](INFO): DAT read: Bearing 201.8, -28.4 (Local)

2025-06-27T19:48:13.806Z,1751053693.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.8, -28.4 (Local)

2025-06-27T19:48:13.808Z,1751053693.808 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:13.821Z,1751053693.821 [DAT](INFO): DAT read: 19:48:12.3533 LVL= 27376, 29249, 32754, 32755, AGC= 48, IDX= 511,-0.33,-2.582,-0.247,-1.415,-0.539, PHS=-1.956, 0.339,-0.879, RAW= 302.0,  23.9, CAL= 308.2,  28.4, ROT= 201.8, -28.4

2025-06-27T19:48:13.837Z,1751053693.837 [DAT](INFO): got valid direction response:
 19:48:12.3533 LVL= 27376, 29249, 32754, 32755, AGC= 48, IDX= 511,-0.33,-2.582,-0.247,-1.415,-0.539, PHS=-1.956, 0.339,-0.879, RAW= 302.0,  23.9, CAL= 308.2,  28.4, ROT= 201.8, -28.4

2025-06-27T19:48:13.863Z,1751053693.863 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-06-27T19:48:13.875Z,1751053693.875 [DAT](INFO): direction in FSK: [-0.816741,-0.326673,0.475624]
2025-06-27T19:48:13.876Z,1751053693.876 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:13.893Z,1751053693.893 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=16.480597
2025-06-27T19:48:14.047Z,1751053694.047 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=16.634720
2025-06-27T19:48:14.300Z,1751053694.300 [DAT](INFO): DAT read: Rx Time:19:48:12.8534 

2025-06-27T19:48:14.300Z,1751053694.300 [DAT](INFO): Rx dataTimestamp_ set to:1751053694.299755
2025-06-27T19:48:14.301Z,1751053694.301 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:14.302Z,1751053694.302 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-06-27T19:48:14.303Z,1751053694.303 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=16.890265
2025-06-27T19:48:14.551Z,1751053694.551 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=17.138676
2025-06-27T19:48:14.804Z,1751053694.804 [DAT](INFO): DAT read: Rx Time:19:48:13.3533 

2025-06-27T19:48:14.804Z,1751053694.804 [DAT](INFO): Rx dataTimestamp_ set to:1751053694.803782
2025-06-27T19:48:14.805Z,1751053694.805 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:14.806Z,1751053694.806 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-06-27T19:48:14.807Z,1751053694.807 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=17.394316
2025-06-27T19:48:15.055Z,1751053695.055 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=17.642551
2025-06-27T19:48:15.308Z,1751053695.308 [DAT](INFO): DAT read: Rx Time:19:48:13.8534 

2025-06-27T19:48:15.309Z,1751053695.309 [DAT](INFO): Rx dataTimestamp_ set to:1751053695.308351
2025-06-27T19:48:15.319Z,1751053695.319 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:15.320Z,1751053695.320 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-06-27T19:48:15.322Z,1751053695.322 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=17.908901
2025-06-27T19:48:15.559Z,1751053695.559 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=18.146732
2025-06-27T19:48:15.812Z,1751053695.812 [DAT](INFO): DAT read: Rx Time:19:48:14.3533 

2025-06-27T19:48:15.812Z,1751053695.812 [DAT](INFO): Rx dataTimestamp_ set to:1751053695.811695
2025-06-27T19:48:15.813Z,1751053695.813 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:15.814Z,1751053695.814 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-06-27T19:48:15.815Z,1751053695.815 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=18.402208
2025-06-27T19:48:16.064Z,1751053696.064 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=18.650805
2025-06-27T19:48:16.316Z,1751053696.316 [DAT](INFO): DAT read: Rx Time:19:48:14.8534 

2025-06-27T19:48:16.316Z,1751053696.316 [DAT](INFO): Rx dataTimestamp_ set to:1751053696.315746
2025-06-27T19:48:16.317Z,1751053696.317 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:16.318Z,1751053696.318 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-06-27T19:48:16.319Z,1751053696.319 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=18.906246
2025-06-27T19:48:16.569Z,1751053696.569 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=19.156038
2025-06-27T19:48:16.820Z,1751053696.820 [DAT](INFO): DAT read: Rx Time:19:48:15.3534 

2025-06-27T19:48:16.820Z,1751053696.820 [DAT](INFO): Rx dataTimestamp_ set to:1751053696.819709
2025-06-27T19:48:16.821Z,1751053696.821 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:16.822Z,1751053696.822 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-06-27T19:48:16.823Z,1751053696.823 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=19.410219
2025-06-27T19:48:17.075Z,1751053697.075 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=19.662724
2025-06-27T19:48:17.328Z,1751053697.328 [DAT](INFO): DAT read: Rx Time:19:48:15.8534 

2025-06-27T19:48:17.328Z,1751053697.328 [DAT](INFO): Rx dataTimestamp_ set to:1751053697.327787
2025-06-27T19:48:17.329Z,1751053697.329 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed -0.1

2025-06-27T19:48:17.330Z,1751053697.330 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-06-27T19:48:17.331Z,1751053697.331 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=19.918291
2025-06-27T19:48:17.579Z,1751053697.579 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=20.166674
2025-06-27T19:48:17.832Z,1751053697.832 [DAT](INFO): DAT read: Rx Time:19:48:16.3533 

2025-06-27T19:48:17.832Z,1751053697.832 [DAT](INFO): Rx dataTimestamp_ set to:1751053697.831785
2025-06-27T19:48:17.833Z,1751053697.833 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed -0.1

2025-06-27T19:48:17.834Z,1751053697.834 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-06-27T19:48:17.835Z,1751053697.835 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=20.422291
2025-06-27T19:48:18.083Z,1751053698.083 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=20.670641
2025-06-27T19:48:18.336Z,1751053698.336 [DAT](INFO): DAT read: Rx Time:19:48:16.8534 

2025-06-27T19:48:18.336Z,1751053698.336 [DAT](INFO): Rx dataTimestamp_ set to:1751053698.335725
2025-06-27T19:48:18.337Z,1751053698.337 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:18.338Z,1751053698.338 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-06-27T19:48:18.339Z,1751053698.339 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=20.926195
2025-06-27T19:48:18.588Z,1751053698.588 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=21.174957
2025-06-27T19:48:18.840Z,1751053698.840 [DAT](INFO): DAT read: Rx Time:19:48:17.3533 

2025-06-27T19:48:18.841Z,1751053698.841 [DAT](INFO): Rx dataTimestamp_ set to:1751053698.840495
2025-06-27T19:48:18.843Z,1751053698.843 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:18.844Z,1751053698.844 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-06-27T19:48:18.845Z,1751053698.845 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=21.432770
2025-06-27T19:48:19.091Z,1751053699.091 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=21.678699
2025-06-27T19:48:19.344Z,1751053699.344 [DAT](INFO): DAT read: Rx Time:19:48:17.8535 

2025-06-27T19:48:19.344Z,1751053699.344 [DAT](INFO): Rx dataTimestamp_ set to:1751053699.343818
2025-06-27T19:48:19.345Z,1751053699.345 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:19.346Z,1751053699.346 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-06-27T19:48:19.347Z,1751053699.347 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=21.934284
2025-06-27T19:48:19.595Z,1751053699.595 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=22.182653
2025-06-27T19:48:19.848Z,1751053699.848 [DAT](INFO): DAT read: Rx Time:19:48:18.3534 

2025-06-27T19:48:19.848Z,1751053699.848 [DAT](INFO): Rx dataTimestamp_ set to:1751053699.848003
2025-06-27T19:48:19.849Z,1751053699.849 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:19.850Z,1751053699.850 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-06-27T19:48:19.851Z,1751053699.851 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=22.438477
2025-06-27T19:48:20.101Z,1751053700.101 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=22.687946
2025-06-27T19:48:20.352Z,1751053700.352 [DAT](INFO): DAT read: Rx Time:19:48:18.8535 

2025-06-27T19:48:20.352Z,1751053700.352 [DAT](INFO): Rx dataTimestamp_ set to:1751053700.351707
2025-06-27T19:48:20.353Z,1751053700.353 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:20.354Z,1751053700.354 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-06-27T19:48:20.355Z,1751053700.355 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=22.942215
2025-06-27T19:48:20.604Z,1751053700.604 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=23.190868
2025-06-27T19:48:20.856Z,1751053700.856 [DAT](INFO): DAT read: Rx Time:19:48:19.3535 

2025-06-27T19:48:20.856Z,1751053700.856 [DAT](INFO): Rx dataTimestamp_ set to:1751053700.855762
2025-06-27T19:48:20.857Z,1751053700.857 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:20.858Z,1751053700.858 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-06-27T19:48:20.859Z,1751053700.859 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=23.446262
2025-06-27T19:48:21.108Z,1751053701.108 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=23.695459
2025-06-27T19:48:21.360Z,1751053701.360 [DAT](INFO): DAT read: Rx Time:19:48:19.8535 

2025-06-27T19:48:21.360Z,1751053701.360 [DAT](INFO): Rx dataTimestamp_ set to:1751053701.360060
2025-06-27T19:48:21.362Z,1751053701.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:21.362Z,1751053701.362 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-06-27T19:48:21.363Z,1751053701.363 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=23.950535
2025-06-27T19:48:21.611Z,1751053701.611 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=24.198763
2025-06-27T19:48:21.864Z,1751053701.864 [DAT](INFO): DAT read: Rx Time:19:48:20.3534 

2025-06-27T19:48:21.864Z,1751053701.864 [DAT](INFO): Rx dataTimestamp_ set to:1751053701.863698
2025-06-27T19:48:21.865Z,1751053701.865 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:21.866Z,1751053701.866 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-06-27T19:48:21.867Z,1751053701.867 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=24.454193
2025-06-27T19:48:22.115Z,1751053702.115 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=24.702698
2025-06-27T19:48:22.368Z,1751053702.368 [DAT](INFO): DAT read: Rx Time:19:48:20.8535 

2025-06-27T19:48:22.368Z,1751053702.368 [DAT](INFO): Rx dataTimestamp_ set to:1751053702.367756
2025-06-27T19:48:22.369Z,1751053702.369 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-06-27T19:48:22.370Z,1751053702.370 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-06-27T19:48:22.371Z,1751053702.371 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=24.958263
2025-06-27T19:48:22.620Z,1751053702.620 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=25.206861
2025-06-27T19:48:22.872Z,1751053702.872 [DAT](INFO): DAT read: Rx Time:19:48:21.3534 

2025-06-27T19:48:22.873Z,1751053702.873 [DAT](INFO): Rx dataTimestamp_ set to:1751053702.872403
2025-06-27T19:48:22.874Z,1751053702.874 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed -0.1

2025-06-27T19:48:22.875Z,1751053702.875 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-06-27T19:48:22.876Z,1751053702.876 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=25.462931
2025-06-27T19:48:23.124Z,1751053703.124 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=25.711662
2025-06-27T19:48:23.376Z,1751053703.376 [DAT](INFO): DAT read: Rx Time:19:48:21.8535 

2025-06-27T19:48:23.376Z,1751053703.376 [DAT](INFO): Rx dataTimestamp_ set to:1751053703.375825
2025-06-27T19:48:23.377Z,1751053703.377 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:23.378Z,1751053703.378 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-06-27T19:48:23.379Z,1751053703.379 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=25.966301
2025-06-27T19:48:23.627Z,1751053703.627 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=26.214664
2025-06-27T19:48:23.880Z,1751053703.880 [DAT](INFO): DAT read: Rx Time:19:48:22.3534 

2025-06-27T19:48:23.880Z,1751053703.880 [DAT](INFO): Rx dataTimestamp_ set to:1751053703.879924
2025-06-27T19:48:23.881Z,1751053703.881 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:23.882Z,1751053703.882 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-06-27T19:48:23.883Z,1751053703.883 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=26.470394
2025-06-27T19:48:24.131Z,1751053704.131 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=26.718668
2025-06-27T19:48:24.384Z,1751053704.384 [DAT](INFO): DAT read: Rx Time:19:48:22.8535 

2025-06-27T19:48:24.384Z,1751053704.384 [DAT](INFO): Rx dataTimestamp_ set to:1751053704.383702
2025-06-27T19:48:24.385Z,1751053704.385 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:24.386Z,1751053704.386 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-06-27T19:48:24.387Z,1751053704.387 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=26.974201
2025-06-27T19:48:24.636Z,1751053704.636 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=27.223104
2025-06-27T19:48:24.888Z,1751053704.888 [DAT](INFO): DAT read: Rx Time:19:48:23.3533 

2025-06-27T19:48:24.888Z,1751053704.888 [DAT](INFO): Rx dataTimestamp_ set to:1751053704.887843
2025-06-27T19:48:24.889Z,1751053704.889 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:24.890Z,1751053704.890 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-06-27T19:48:24.895Z,1751053704.895 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=27.482327
2025-06-27T19:48:25.139Z,1751053705.139 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=27.726706
2025-06-27T19:48:25.394Z,1751053705.394 [DAT](INFO): DAT read: Rx Time:19:48:23.8533 

2025-06-27T19:48:25.394Z,1751053705.394 [DAT](INFO): Rx dataTimestamp_ set to:1751053705.393886
2025-06-27T19:48:25.395Z,1751053705.395 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:25.396Z,1751053705.396 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-06-27T19:48:25.397Z,1751053705.397 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=27.984335
2025-06-27T19:48:25.647Z,1751053705.647 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=28.234652
2025-06-27T19:48:25.900Z,1751053705.900 [DAT](INFO): DAT read: Rx Time:19:48:24.3532 

2025-06-27T19:48:25.900Z,1751053705.900 [DAT](INFO): Rx dataTimestamp_ set to:1751053705.899798
2025-06-27T19:48:25.901Z,1751053705.901 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:25.902Z,1751053705.902 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-06-27T19:48:25.903Z,1751053705.903 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=28.490547
2025-06-27T19:48:26.151Z,1751053706.151 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=28.738710
2025-06-27T19:48:26.405Z,1751053706.405 [DAT](INFO): DAT read: Rx Time:19:48:24.8533 

2025-06-27T19:48:26.405Z,1751053706.405 [DAT](INFO): Rx dataTimestamp_ set to:1751053706.405015
2025-06-27T19:48:26.407Z,1751053706.407 [DAT](INFO): DAT read: Bearing 201.0, -28.8 (Local)

2025-06-27T19:48:26.407Z,1751053706.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.0, -28.8 (Local)

2025-06-27T19:48:26.409Z,1751053706.409 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:26.415Z,1751053706.415 [DAT](INFO): DAT read: 19:48:24.8533 LVL= 29296, 26001, 32754, 32755, AGC= 48, IDX= 509, 0.02, 1.122,-2.787, 2.277,-3.074, PHS=-2.000, 0.334,-0.935, RAW= 302.9,  24.4, CAL= 309.0,  28.8, ROT= 201.0, -28.8

2025-06-27T19:48:26.419Z,1751053706.419 [DAT](INFO): got valid direction response:
 19:48:24.8533 LVL= 29296, 26001, 32754, 32755, AGC= 48, IDX= 509, 0.02, 1.122,-2.787, 2.277,-3.074, PHS=-2.000, 0.334,-0.935, RAW= 302.9,  24.4, CAL= 309.0,  28.8, ROT= 201.0, -28.8

2025-06-27T19:48:26.420Z,1751053706.420 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-06-27T19:48:26.421Z,1751053706.421 [DAT](INFO): direction in FSK: [-0.818103,-0.314040,0.481754]
2025-06-27T19:48:26.421Z,1751053706.421 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:26.425Z,1751053706.425 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=29.012472
2025-06-27T19:48:26.655Z,1751053706.655 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=29.242756
2025-06-27T19:48:26.908Z,1751053706.908 [DAT](INFO): DAT read: Rx Time:19:48:25.3532 

2025-06-27T19:48:26.908Z,1751053706.908 [DAT](INFO): Rx dataTimestamp_ set to:1751053706.908218
2025-06-27T19:48:26.910Z,1751053706.910 [DAT](INFO): DAT read: Bearing 198.2, -28.4 (Local)

2025-06-27T19:48:26.910Z,1751053706.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.2, -28.4 (Local)

2025-06-27T19:48:26.912Z,1751053706.912 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed -0.1

2025-06-27T19:48:26.917Z,1751053706.917 [DAT](INFO): DAT read: 19:48:25.3532 LVL= 29168, 26225, 32754, 32755, AGC= 48, IDX= 508, 0.06, 0.506, 2.809, 1.516, 2.485, PHS=-1.890, 0.372,-0.972, RAW= 306.2,  24.1, CAL= 311.8,  28.4, ROT= 198.2, -28.4

2025-06-27T19:48:26.919Z,1751053706.919 [DAT](INFO): got valid direction response:
 19:48:25.3532 LVL= 29168, 26225, 32754, 32755, AGC= 48, IDX= 508, 0.06, 0.506, 2.809, 1.516, 2.485, PHS=-1.890, 0.372,-0.972, RAW= 306.2,  24.1, CAL= 311.8,  28.4, ROT= 198.2, -28.4

2025-06-27T19:48:26.919Z,1751053706.919 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-06-27T19:48:26.920Z,1751053706.920 [DAT](INFO): direction in FSK: [-0.835642,-0.274745,0.475624]
2025-06-27T19:48:26.920Z,1751053706.920 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:26.924Z,1751053706.924 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=29.511339
2025-06-27T19:48:27.160Z,1751053707.160 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=29.747269
2025-06-27T19:48:27.412Z,1751053707.412 [DAT](INFO): DAT read: Rx Time:19:48:25.8533 

2025-06-27T19:48:27.412Z,1751053707.412 [DAT](INFO): Rx dataTimestamp_ set to:1751053707.412223
2025-06-27T19:48:27.414Z,1751053707.414 [DAT](INFO): DAT read: Bearing 198.0, -28.4 (Local)

2025-06-27T19:48:27.414Z,1751053707.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0, -28.4 (Local)

2025-06-27T19:48:27.416Z,1751053707.416 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:27.421Z,1751053707.421 [DAT](INFO): DAT read: 19:48:25.8533 LVL= 28320, 25953, 32754, 32755, AGC= 48, IDX= 509, 0.09, 1.588,-2.430, 2.572,-2.752, PHS=-1.855, 0.369,-0.962, RAW= 306.5,  24.1, CAL= 312.0,  28.4, ROT= 198.0, -28.4

2025-06-27T19:48:27.423Z,1751053707.423 [DAT](INFO): got valid direction response:
 19:48:25.8533 LVL= 28320, 25953, 32754, 32755, AGC= 48, IDX= 509, 0.09, 1.588,-2.430, 2.572,-2.752, PHS=-1.855, 0.369,-0.962, RAW= 306.5,  24.1, CAL= 312.0,  28.4, ROT= 198.0, -28.4

2025-06-27T19:48:27.423Z,1751053707.423 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-06-27T19:48:27.424Z,1751053707.424 [DAT](INFO): direction in FSK: [-0.836596,-0.271826,0.475624]
2025-06-27T19:48:27.424Z,1751053707.424 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:27.445Z,1751053707.445 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=30.032209
2025-06-27T19:48:27.663Z,1751053707.663 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=30.250734
2025-06-27T19:48:27.916Z,1751053707.916 [DAT](INFO): DAT read: Rx Time:19:48:26.3532 

2025-06-27T19:48:27.916Z,1751053707.916 [DAT](INFO): Rx dataTimestamp_ set to:1751053707.916209
2025-06-27T19:48:27.918Z,1751053707.918 [DAT](INFO): DAT read: Bearing 197.7, -28.3 (Local)

2025-06-27T19:48:27.918Z,1751053707.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.7, -28.3 (Local)

2025-06-27T19:48:27.920Z,1751053707.920 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:27.925Z,1751053707.925 [DAT](INFO): DAT read: 19:48:26.3532 LVL= 28320, 26401, 32754, 32755, AGC= 47, IDX= 508, 0.14, 0.443, 2.701, 1.413, 2.373, PHS=-1.842, 0.375,-0.963, RAW= 306.8,  24.0, CAL= 312.3,  28.3, ROT= 197.7, -28.3

2025-06-27T19:48:27.927Z,1751053707.927 [DAT](INFO): got valid direction response:
 19:48:26.3532 LVL= 28320, 26401, 32754, 32755, AGC= 47, IDX= 508, 0.14, 0.443, 2.701, 1.413, 2.373, PHS=-1.842, 0.375,-0.963, RAW= 306.8,  24.0, CAL= 312.3,  28.3, ROT= 197.7, -28.3

2025-06-27T19:48:27.927Z,1751053707.927 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-06-27T19:48:27.928Z,1751053707.928 [DAT](INFO): direction in FSK: [-0.838797,-0.267694,0.474088]
2025-06-27T19:48:27.928Z,1751053707.928 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:27.932Z,1751053707.932 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=30.519363
2025-06-27T19:48:28.167Z,1751053708.167 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=30.754627
2025-06-27T19:48:28.420Z,1751053708.420 [DAT](INFO): DAT read: Rx Time:19:48:26.8533 

2025-06-27T19:48:28.420Z,1751053708.420 [DAT](INFO): Rx dataTimestamp_ set to:1751053708.420211
2025-06-27T19:48:28.422Z,1751053708.422 [DAT](INFO): DAT read: Bearing 198.1, -26.8 (Local)

2025-06-27T19:48:28.422Z,1751053708.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.1, -26.8 (Local)

2025-06-27T19:48:28.424Z,1751053708.424 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:28.432Z,1751053708.432 [DAT](INFO): DAT read: 19:48:26.8533 LVL= 32752, 31985, 32754, 32755, AGC= 48, IDX= 509, 0.21, 1.554,-2.298, 2.596,-2.736, PHS=-1.906, 0.485,-0.955, RAW= 306.7,  21.9, CAL= 311.9,  26.8, ROT= 198.1, -26.8

2025-06-27T19:48:28.433Z,1751053708.433 [DAT](INFO): got valid direction response:
 19:48:26.8533 LVL= 32752, 31985, 32754, 32755, AGC= 48, IDX= 509, 0.21, 1.554,-2.298, 2.596,-2.736, PHS=-1.906, 0.485,-0.955, RAW= 306.7,  21.9, CAL= 311.9,  26.8, ROT= 198.1, -26.8

2025-06-27T19:48:28.434Z,1751053708.434 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-06-27T19:48:28.455Z,1751053708.455 [DAT](INFO): direction in FSK: [-0.848417,-0.277305,0.450878]
2025-06-27T19:48:28.456Z,1751053708.456 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:28.463Z,1751053708.463 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.050583
2025-06-27T19:48:28.672Z,1751053708.672 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=31.259136
2025-06-27T19:48:28.924Z,1751053708.924 [DAT](INFO): DAT read: Rx Time:19:48:27.3532 

2025-06-27T19:48:28.924Z,1751053708.924 [DAT](INFO): Rx dataTimestamp_ set to:1751053708.923993
2025-06-27T19:48:28.926Z,1751053708.926 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:28.926Z,1751053708.926 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-06-27T19:48:28.927Z,1751053708.927 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.514530
2025-06-27T19:48:29.176Z,1751053709.176 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=31.762993
2025-06-27T19:48:29.428Z,1751053709.428 [DAT](INFO): DAT read: Rx Time:19:48:27.8532 

2025-06-27T19:48:29.428Z,1751053709.428 [DAT](INFO): Rx dataTimestamp_ set to:1751053709.427783
2025-06-27T19:48:29.429Z,1751053709.429 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:29.430Z,1751053709.430 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-06-27T19:48:29.431Z,1751053709.431 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.018284
2025-06-27T19:48:29.679Z,1751053709.679 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=32.266678
2025-06-27T19:48:29.932Z,1751053709.932 [DAT](INFO): DAT read: Rx Time:19:48:28.3532 

2025-06-27T19:48:29.932Z,1751053709.932 [DAT](INFO): Rx dataTimestamp_ set to:1751053709.931784
2025-06-27T19:48:29.933Z,1751053709.933 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:29.934Z,1751053709.934 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-06-27T19:48:29.935Z,1751053709.935 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.522266
2025-06-27T19:48:30.183Z,1751053710.183 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=32.770660
2025-06-27T19:48:30.436Z,1751053710.436 [DAT](INFO): DAT read: Rx Time:19:48:28.8533 

2025-06-27T19:48:30.436Z,1751053710.436 [DAT](INFO): Rx dataTimestamp_ set to:1751053710.435736
2025-06-27T19:48:30.437Z,1751053710.437 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:30.438Z,1751053710.438 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-06-27T19:48:30.439Z,1751053710.439 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=33.026211
2025-06-27T19:48:30.688Z,1751053710.688 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=33.275154
2025-06-27T19:48:30.940Z,1751053710.940 [DAT](INFO): DAT read: Rx Time:19:48:29.3532 

2025-06-27T19:48:30.940Z,1751053710.940 [DAT](INFO): Rx dataTimestamp_ set to:1751053710.939715
2025-06-27T19:48:30.941Z,1751053710.941 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:30.942Z,1751053710.942 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-06-27T19:48:30.943Z,1751053710.943 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.530258
2025-06-27T19:48:31.191Z,1751053711.191 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=33.778656
2025-06-27T19:48:31.444Z,1751053711.444 [DAT](INFO): DAT read: Rx Time:19:48:29.8535 

2025-06-27T19:48:31.444Z,1751053711.444 [DAT](INFO): Rx dataTimestamp_ set to:1751053711.443870
2025-06-27T19:48:31.445Z,1751053711.445 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:31.446Z,1751053711.446 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-06-27T19:48:31.447Z,1751053711.447 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.034431
2025-06-27T19:48:31.695Z,1751053711.695 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=34.282650
2025-06-27T19:48:31.948Z,1751053711.948 [DAT](INFO): DAT read: Rx Time:19:48:30.3534 

2025-06-27T19:48:31.949Z,1751053711.949 [DAT](INFO): Rx dataTimestamp_ set to:1751053711.948568
2025-06-27T19:48:31.951Z,1751053711.951 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:31.952Z,1751053711.952 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-06-27T19:48:31.953Z,1751053711.953 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.540169
2025-06-27T19:48:32.199Z,1751053712.199 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=34.786724
2025-06-27T19:48:32.451Z,1751053712.451 [DAT](INFO): DAT read: Rx Time:19:48:30.8534 

2025-06-27T19:48:32.452Z,1751053712.452 [DAT](INFO): Rx dataTimestamp_ set to:1751053712.451655
2025-06-27T19:48:32.453Z,1751053712.453 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:32.454Z,1751053712.454 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-06-27T19:48:32.455Z,1751053712.455 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.042141
2025-06-27T19:48:32.703Z,1751053712.703 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=35.290684
2025-06-27T19:48:32.955Z,1751053712.955 [DAT](INFO): DAT read: Rx Time:19:48:31.3533 

2025-06-27T19:48:32.956Z,1751053712.956 [DAT](INFO): Rx dataTimestamp_ set to:1751053712.955661
2025-06-27T19:48:32.957Z,1751053712.957 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:32.958Z,1751053712.958 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-06-27T19:48:32.959Z,1751053712.959 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.546120
2025-06-27T19:48:33.208Z,1751053713.208 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=35.795204
2025-06-27T19:48:33.460Z,1751053713.460 [DAT](INFO): DAT read: Rx Time:19:48:31.8533 

2025-06-27T19:48:33.460Z,1751053713.460 [DAT](INFO): Rx dataTimestamp_ set to:1751053713.459708
2025-06-27T19:48:33.461Z,1751053713.461 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:33.462Z,1751053713.462 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-06-27T19:48:33.463Z,1751053713.463 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.050201
2025-06-27T19:48:33.711Z,1751053713.711 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=36.298721
2025-06-27T19:48:33.963Z,1751053713.963 [DAT](INFO): DAT read: Rx Time:19:48:32.3532 

2025-06-27T19:48:33.964Z,1751053713.964 [DAT](INFO): Rx dataTimestamp_ set to:1751053713.963655
2025-06-27T19:48:33.965Z,1751053713.965 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:33.966Z,1751053713.966 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-06-27T19:48:33.967Z,1751053713.967 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.554134
2025-06-27T19:48:34.215Z,1751053714.215 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=36.802677
2025-06-27T19:48:34.468Z,1751053714.468 [DAT](INFO): DAT read: Rx Time:19:48:32.8533 

2025-06-27T19:48:34.468Z,1751053714.468 [DAT](INFO): Rx dataTimestamp_ set to:1751053714.467765
2025-06-27T19:48:34.469Z,1751053714.469 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:34.470Z,1751053714.470 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-06-27T19:48:34.471Z,1751053714.471 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.058231
2025-06-27T19:48:34.719Z,1751053714.719 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=37.306728
2025-06-27T19:48:34.972Z,1751053714.972 [DAT](INFO): DAT read: Rx Time:19:48:33.3533 

2025-06-27T19:48:34.972Z,1751053714.972 [DAT](INFO): Rx dataTimestamp_ set to:1751053714.971960
2025-06-27T19:48:34.973Z,1751053714.973 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:34.974Z,1751053714.974 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-06-27T19:48:34.975Z,1751053714.975 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.562393
2025-06-27T19:48:35.223Z,1751053715.223 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=37.810726
2025-06-27T19:48:35.476Z,1751053715.476 [DAT](INFO): DAT read: Rx Time:19:48:33.8534 

2025-06-27T19:48:35.476Z,1751053715.476 [DAT](INFO): Rx dataTimestamp_ set to:1751053715.475852
2025-06-27T19:48:35.477Z,1751053715.477 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:35.478Z,1751053715.478 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-06-27T19:48:35.479Z,1751053715.479 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.066452
2025-06-27T19:48:35.727Z,1751053715.727 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=38.314674
2025-06-27T19:48:35.989Z,1751053715.989 [DAT](INFO): DAT read: Rx Time:19:48:34.3533 

2025-06-27T19:48:35.990Z,1751053715.990 [DAT](INFO): Rx dataTimestamp_ set to:1751053715.989289
2025-06-27T19:48:36.001Z,1751053716.001 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:36.002Z,1751053716.002 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-06-27T19:48:36.004Z,1751053716.004 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.591141
2025-06-27T19:48:36.239Z,1751053716.239 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=38.826508
2025-06-27T19:48:36.492Z,1751053716.492 [DAT](INFO): DAT read: Rx Time:19:48:34.8533 

2025-06-27T19:48:36.492Z,1751053716.492 [DAT](INFO): Rx dataTimestamp_ set to:1751053716.491717
2025-06-27T19:48:36.493Z,1751053716.493 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:36.494Z,1751053716.494 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-06-27T19:48:36.495Z,1751053716.495 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.082188
2025-06-27T19:48:36.744Z,1751053716.744 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=39.331455
2025-06-27T19:48:36.996Z,1751053716.996 [DAT](INFO): DAT read: Rx Time:19:48:35.3534 

2025-06-27T19:48:36.997Z,1751053716.997 [DAT](INFO): Rx dataTimestamp_ set to:1751053716.996367
2025-06-27T19:48:36.998Z,1751053716.998 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:36.999Z,1751053716.999 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-06-27T19:48:37.001Z,1751053717.001 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.587643
2025-06-27T19:48:37.252Z,1751053717.252 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=39.837475
2025-06-27T19:48:37.500Z,1751053717.500 [DAT](INFO): DAT read: Rx Time:19:48:35.8535 

2025-06-27T19:48:37.500Z,1751053717.500 [DAT](INFO): Rx dataTimestamp_ set to:1751053717.499763
2025-06-27T19:48:37.501Z,1751053717.501 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:37.502Z,1751053717.502 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-06-27T19:48:37.503Z,1751053717.503 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.090256
2025-06-27T19:48:37.754Z,1751053717.754 [DAT](INFO): DAT read: Rx Time:19:48:36.3534 

2025-06-27T19:48:37.755Z,1751053717.755 [DAT](INFO): Rx dataTimestamp_ set to:1751053717.754527
2025-06-27T19:48:37.757Z,1751053717.757 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=40.344090
2025-06-27T19:48:38.006Z,1751053718.006 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:38.007Z,1751053718.007 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-06-27T19:48:38.008Z,1751053718.008 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=40.595394
2025-06-27T19:48:38.260Z,1751053718.260 [DAT](INFO): DAT read: Rx Time:19:48:36.8535 

2025-06-27T19:48:38.262Z,1751053718.262 [DAT](INFO): Rx dataTimestamp_ set to:1751053718.261117
2025-06-27T19:48:38.263Z,1751053718.263 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:38.264Z,1751053718.264 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-06-27T19:48:38.265Z,1751053718.265 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=40.852325
2025-06-27T19:48:38.507Z,1751053718.507 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=41.094681
2025-06-27T19:48:38.762Z,1751053718.762 [DAT](INFO): DAT read: Rx Time:19:48:37.3534 

2025-06-27T19:48:38.763Z,1751053718.763 [DAT](INFO): Rx dataTimestamp_ set to:1751053718.762316
2025-06-27T19:48:38.764Z,1751053718.764 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:38.764Z,1751053718.764 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-06-27T19:48:38.765Z,1751053718.765 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.352684
2025-06-27T19:48:39.012Z,1751053719.012 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=41.599350
2025-06-27T19:48:39.264Z,1751053719.264 [DAT](INFO): DAT read: Rx Time:19:48:37.8535 

2025-06-27T19:48:39.264Z,1751053719.264 [DAT](INFO): Rx dataTimestamp_ set to:1751053719.263773
2025-06-27T19:48:39.265Z,1751053719.265 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:39.266Z,1751053719.266 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-06-27T19:48:39.267Z,1751053719.267 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=41.854240
2025-06-27T19:48:39.515Z,1751053719.515 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=42.102623
2025-06-27T19:48:39.768Z,1751053719.768 [DAT](INFO): DAT read: Rx Time:19:48:38.3534 

2025-06-27T19:48:39.768Z,1751053719.768 [DAT](INFO): Rx dataTimestamp_ set to:1751053719.767754
2025-06-27T19:48:39.769Z,1751053719.769 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:39.770Z,1751053719.770 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-06-27T19:48:39.771Z,1751053719.771 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.358234
2025-06-27T19:48:40.020Z,1751053720.020 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=42.606903
2025-06-27T19:48:40.274Z,1751053720.274 [DAT](INFO): DAT read: Rx Time:19:48:38.8534 

2025-06-27T19:48:40.275Z,1751053720.275 [DAT](INFO): Rx dataTimestamp_ set to:1751053720.273832
2025-06-27T19:48:40.276Z,1751053720.276 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:40.277Z,1751053720.277 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-06-27T19:48:40.788Z,1751053720.788 [DAT](INFO): DAT read: Rx Time:19:48:39.3533 

2025-06-27T19:48:40.789Z,1751053720.789 [DAT](INFO): Rx dataTimestamp_ set to:1751053720.788573
2025-06-27T19:48:40.791Z,1751053720.791 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:40.792Z,1751053720.792 [DAT](ERROR): #Rx 121: Read range message, but no direction.
2025-06-27T19:48:41.292Z,1751053721.292 [DAT](INFO): DAT read: Rx Time:19:48:39.8535 

2025-06-27T19:48:41.292Z,1751053721.292 [DAT](INFO): Rx dataTimestamp_ set to:1751053721.291777
2025-06-27T19:48:41.293Z,1751053721.293 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:41.294Z,1751053721.294 [DAT](ERROR): #Rx 122: Read range message, but no direction.
2025-06-27T19:48:41.795Z,1751053721.795 [DAT](INFO): DAT read: Rx Time:19:48:40.3534 

2025-06-27T19:48:41.796Z,1751053721.796 [DAT](INFO): Rx dataTimestamp_ set to:1751053721.795662
2025-06-27T19:48:41.797Z,1751053721.797 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:41.798Z,1751053721.798 [DAT](ERROR): #Rx 123: Read range message, but no direction.
2025-06-27T19:48:42.302Z,1751053722.302 [DAT](INFO): DAT read: Rx Time:19:48:40.8535 

2025-06-27T19:48:42.303Z,1751053722.303 [DAT](INFO): Rx dataTimestamp_ set to:1751053722.303134
2025-06-27T19:48:42.305Z,1751053722.305 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:42.305Z,1751053722.305 [DAT](ERROR): #Rx 124: Read range message, but no direction.
2025-06-27T19:48:42.813Z,1751053722.813 [DAT](INFO): DAT read: Rx Time:19:48:41.3535 

2025-06-27T19:48:42.813Z,1751053722.813 [DAT](INFO): Rx dataTimestamp_ set to:1751053722.812813
2025-06-27T19:48:42.815Z,1751053722.815 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:42.816Z,1751053722.816 [DAT](ERROR): #Rx 125: Read range message, but no direction.
2025-06-27T19:48:43.316Z,1751053723.316 [DAT](INFO): DAT read: Rx Time:19:48:41.8534 

2025-06-27T19:48:43.316Z,1751053723.316 [DAT](INFO): Rx dataTimestamp_ set to:1751053723.315743
2025-06-27T19:48:43.317Z,1751053723.317 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:43.318Z,1751053723.318 [DAT](ERROR): #Rx 126: Read range message, but no direction.
2025-06-27T19:48:43.820Z,1751053723.820 [DAT](INFO): DAT read: Rx Time:19:48:42.3533 

2025-06-27T19:48:43.820Z,1751053723.820 [DAT](INFO): Rx dataTimestamp_ set to:1751053723.819756
2025-06-27T19:48:43.821Z,1751053723.821 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:43.822Z,1751053723.822 [DAT](ERROR): #Rx 127: Read range message, but no direction.
2025-06-27T19:48:44.327Z,1751053724.327 [DAT](INFO): DAT read: Rx Time:19:48:42.8534 

2025-06-27T19:48:44.329Z,1751053724.329 [DAT](INFO): Rx dataTimestamp_ set to:1751053724.327897
2025-06-27T19:48:44.333Z,1751053724.333 [DAT](INFO): DAT read: Bearing 199.4, -28.7 (Local)

2025-06-27T19:48:44.334Z,1751053724.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.4, -28.7 (Local)

2025-06-27T19:48:44.349Z,1751053724.349 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:44.353Z,1751053724.353 [DAT](INFO): DAT read: 19:48:42.8534 LVL= 29168, 28305, 32754, 32755, AGC= 48, IDX= 507, 0.06,-3.136,-0.793,-2.060,-1.098, PHS=-1.951, 0.352,-0.966, RAW= 304.8,  24.4, CAL= 310.6,  28.7, ROT= 199.4, -28.7

2025-06-27T19:48:44.379Z,1751053724.379 [DAT](INFO): got valid direction response:
 19:48:42.8534 LVL= 29168, 28305, 32754, 32755, AGC= 48, IDX= 507, 0.06,-3.136,-0.793,-2.060,-1.098, PHS=-1.951, 0.352,-0.966, RAW= 304.8,  24.4, CAL= 310.6,  28.7, ROT= 199.4, -28.7

2025-06-27T19:48:44.379Z,1751053724.379 [DAT](INFO): #Rx 128: Read range and direction messages.
2025-06-27T19:48:44.380Z,1751053724.380 [DAT](INFO): direction in FSK: [-0.827344,-0.291354,0.480224]
2025-06-27T19:48:44.380Z,1751053724.380 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:44.828Z,1751053724.828 [DAT](INFO): DAT read: Rx Time:19:48:43.3533 

2025-06-27T19:48:44.829Z,1751053724.829 [DAT](INFO): Rx dataTimestamp_ set to:1751053724.828275
2025-06-27T19:48:44.830Z,1751053724.830 [DAT](INFO): DAT read: Bearing 199.3, -27.3 (Local)

2025-06-27T19:48:44.830Z,1751053724.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 199.3, -27.3 (Local)

2025-06-27T19:48:44.832Z,1751053724.832 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:44.837Z,1751053724.837 [DAT](INFO): DAT read: 19:48:43.3533 LVL= 32752, 32641, 32754, 32755, AGC= 49, IDX= 506, 0.13, 1.428,-2.466, 2.504,-2.859, PHS=-1.909, 0.440,-0.923, RAW= 305.3,  22.5, CAL= 310.8,  27.3, ROT= 199.3, -27.3

2025-06-27T19:48:44.839Z,1751053724.839 [DAT](INFO): got valid direction response:
 19:48:43.3533 LVL= 32752, 32641, 32754, 32755, AGC= 49, IDX= 506, 0.13, 1.428,-2.466, 2.504,-2.859, PHS=-1.909, 0.440,-0.923, RAW= 305.3,  22.5, CAL= 310.8,  27.3, ROT= 199.3, -27.3

2025-06-27T19:48:44.839Z,1751053724.839 [DAT](INFO): #Rx 129: Read range and direction messages.
2025-06-27T19:48:44.840Z,1751053724.840 [DAT](INFO): direction in FSK: [-0.838678,-0.293701,0.458650]
2025-06-27T19:48:44.840Z,1751053724.840 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:45.334Z,1751053725.334 [DAT](INFO): DAT read: Rx Time:19:48:43.8534 

2025-06-27T19:48:45.335Z,1751053725.335 [DAT](INFO): Rx dataTimestamp_ set to:1751053725.334446
2025-06-27T19:48:45.336Z,1751053725.336 [DAT](INFO): DAT read: Bearing 198.2, -27.7 (Local)

2025-06-27T19:48:45.336Z,1751053725.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.2, -27.7 (Local)

2025-06-27T19:48:45.339Z,1751053725.339 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:45.345Z,1751053725.345 [DAT](INFO): DAT read: 19:48:43.8534 LVL= 30816, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.18,-3.000,-0.620,-1.967,-0.998, PHS=-1.915, 0.425,-0.972, RAW= 306.4,  23.1, CAL= 311.8,  27.7, ROT= 198.2, -27.7

2025-06-27T19:48:45.346Z,1751053725.346 [DAT](INFO): got valid direction response:
 19:48:43.8534 LVL= 30816, 32753, 32754, 32755, AGC= 48, IDX= 507, 0.18,-3.000,-0.620,-1.967,-0.998, PHS=-1.915, 0.425,-0.972, RAW= 306.4,  23.1, CAL= 311.8,  27.7, ROT= 198.2, -27.7

2025-06-27T19:48:45.346Z,1751053725.346 [DAT](INFO): #Rx 130: Read range and direction messages.
2025-06-27T19:48:45.351Z,1751053725.351 [DAT](INFO): direction in FSK: [-0.841099,-0.276539,0.464842]
2025-06-27T19:48:45.352Z,1751053725.352 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:45.836Z,1751053725.836 [DAT](INFO): DAT read: Rx Time:19:48:44.3533 

2025-06-27T19:48:45.836Z,1751053725.836 [DAT](INFO): Rx dataTimestamp_ set to:1751053725.836191
2025-06-27T19:48:45.838Z,1751053725.838 [DAT](INFO): DAT read: Bearing 198.2, -27.3 (Local)

2025-06-27T19:48:45.838Z,1751053725.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.2, -27.3 (Local)

2025-06-27T19:48:45.840Z,1751053725.840 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:45.845Z,1751053725.845 [DAT](INFO): DAT read: 19:48:44.3533 LVL= 31520, 28353, 32642, 32755, AGC= 47, IDX= 506, 0.21, 1.937,-1.956, 2.968,-2.361, PHS=-1.897, 0.452,-0.957, RAW= 306.6,  22.5, CAL= 311.8,  27.3, ROT= 198.2, -27.3

2025-06-27T19:48:45.846Z,1751053725.846 [DAT](INFO): got valid direction response:
 19:48:44.3533 LVL= 31520, 28353, 32642, 32755, AGC= 47, IDX= 506, 0.21, 1.937,-1.956, 2.968,-2.361, PHS=-1.897, 0.452,-0.957, RAW= 306.6,  22.5, CAL= 311.8,  27.3, ROT= 198.2, -27.3

2025-06-27T19:48:45.847Z,1751053725.847 [DAT](INFO): #Rx 131: Read range and direction messages.
2025-06-27T19:48:45.848Z,1751053725.848 [DAT](INFO): direction in FSK: [-0.844162,-0.277546,0.458650]
2025-06-27T19:48:45.848Z,1751053725.848 [DAT](INFO): publishing direction and range info
2025-06-27T19:48:46.342Z,1751053726.342 [DAT](INFO): DAT read: Rx Time:19:48:44.8533 

2025-06-27T19:48:46.344Z,1751053726.344 [DAT](INFO): Rx dataTimestamp_ set to:1751053726.343059
2025-06-27T19:48:46.350Z,1751053726.350 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:46.352Z,1751053726.352 [DAT](ERROR): #Rx 132: Read range message, but no direction.
2025-06-27T19:48:46.844Z,1751053726.844 [DAT](INFO): DAT read: Rx Time:19:48:45.3532 

2025-06-27T19:48:46.845Z,1751053726.845 [DAT](INFO): Rx dataTimestamp_ set to:1751053726.844442
2025-06-27T19:48:46.847Z,1751053726.847 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:46.848Z,1751053726.848 [DAT](ERROR): #Rx 133: Read range message, but no direction.
2025-06-27T19:48:47.352Z,1751053727.352 [DAT](INFO): DAT read: Rx Time:19:48:45.8533 

2025-06-27T19:48:47.353Z,1751053727.353 [DAT](INFO): Rx dataTimestamp_ set to:1751053727.352067
2025-06-27T19:48:47.362Z,1751053727.362 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:47.364Z,1751053727.364 [DAT](ERROR): #Rx 134: Read range message, but no direction.
2025-06-27T19:48:47.631Z,1751053727.631 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.00,        +0.00,

2025-06-27T19:48:47.852Z,1751053727.852 [DAT](INFO): DAT read: Rx Time:19:48:46.3532 

2025-06-27T19:48:47.852Z,1751053727.852 [DAT](INFO): Rx dataTimestamp_ set to:1751053727.851707
2025-06-27T19:48:47.853Z,1751053727.853 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:47.854Z,1751053727.854 [DAT](ERROR): #Rx 135: Read range message, but no direction.
2025-06-27T19:48:48.358Z,1751053728.358 [DAT](INFO): DAT read: Rx Time:19:48:46.8533 

2025-06-27T19:48:48.359Z,1751053728.359 [DAT](INFO): Rx dataTimestamp_ set to:1751053728.358559
2025-06-27T19:48:48.363Z,1751053728.363 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:48.366Z,1751053728.366 [DAT](ERROR): #Rx 136: Read range message, but no direction.
2025-06-27T19:48:48.860Z,1751053728.860 [DAT](INFO): DAT read: Rx Time:19:48:47.3532 

2025-06-27T19:48:48.861Z,1751053728.861 [DAT](INFO): Rx dataTimestamp_ set to:1751053728.860375
2025-06-27T19:48:48.872Z,1751053728.872 [DAT](INFO): DAT read: Range 10 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-06-27T19:48:48.873Z,1751053728.873 [DAT](ERROR): #Rx 137: Read range message, but no direction.
2025-06-27T19:48:49.367Z,1751053729.367 [DAT](INFO): DAT read: Rx Time:19:48:47.8534 

2025-06-27T19:48:49.368Z,1751053729.368 [DAT](INFO): Rx dataTimestamp_ set to:1751053729.367237
2025-06-27T19:48:49.372Z,1751053729.372 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:49.375Z,1751053729.375 [DAT](ERROR): #Rx 138: Read range message, but no direction.
2025-06-27T19:48:49.867Z,1751053729.867 [DAT](INFO): DAT read: Rx Time:19:48:48.3534 

2025-06-27T19:48:49.868Z,1751053729.868 [DAT](INFO): Rx dataTimestamp_ set to:1751053729.867679
2025-06-27T19:48:49.869Z,1751053729.869 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:49.870Z,1751053729.870 [DAT](ERROR): #Rx 139: Read range message, but no direction.
2025-06-27T19:48:50.374Z,1751053730.374 [DAT](INFO): DAT read: Rx Time:19:48:48.8534 

2025-06-27T19:48:50.376Z,1751053730.376 [DAT](INFO): Rx dataTimestamp_ set to:1751053730.374843
2025-06-27T19:48:50.380Z,1751053730.380 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed -0.1

2025-06-27T19:48:50.382Z,1751053730.382 [DAT](ERROR): #Rx 140: Read range message, but no direction.
2025-06-27T19:48:50.876Z,1751053730.876 [DAT](INFO): DAT read: Rx Time:19:48:49.3533 

2025-06-27T19:48:50.877Z,1751053730.877 [DAT](INFO): Rx dataTimestamp_ set to:1751053730.876393
2025-06-27T19:48:50.879Z,1751053730.879 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:50.879Z,1751053730.879 [DAT](ERROR): #Rx 141: Read range message, but no direction.
2025-06-27T19:48:51.382Z,1751053731.382 [DAT](INFO): DAT read: Rx Time:19:48:49.8534 

2025-06-27T19:48:51.384Z,1751053731.384 [DAT](INFO): Rx dataTimestamp_ set to:1751053731.382974
2025-06-27T19:48:51.388Z,1751053731.388 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed -0.1

2025-06-27T19:48:51.390Z,1751053731.390 [DAT](ERROR): #Rx 142: Read range message, but no direction.
2025-06-27T19:48:51.686Z,1751053731.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:48:51.884Z,1751053731.884 [DAT](INFO): DAT read: Rx Time:19:48:50.3533 

2025-06-27T19:48:51.884Z,1751053731.884 [DAT](INFO): Rx dataTimestamp_ set to:1751053731.883910
2025-06-27T19:48:51.885Z,1751053731.885 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:51.886Z,1751053731.886 [DAT](ERROR): #Rx 143: Read range message, but no direction.
2025-06-27T19:48:51.887Z,1751053731.887 [DAT](INFO): ****** received valid address query ******
2025-06-27T19:48:51.887Z,1751053731.887 [DAT](INFO): ****** received valid ping request ******
2025-06-27T19:48:51.887Z,1751053731.887 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:52.142Z,1751053732.142 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:52.142Z,1751053732.142 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:52.142Z,1751053732.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:52.399Z,1751053732.399 [DAT](INFO): DAT read: Rx Time:19:48:50.8535 

2025-06-27T19:48:52.400Z,1751053732.400 [DAT](INFO): Rx dataTimestamp_ set to:1751053732.399241
2025-06-27T19:48:52.404Z,1751053732.404 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed -0.1

2025-06-27T19:48:52.407Z,1751053732.407 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:52.410Z,1751053732.410 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:52.411Z,1751053732.411 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:52.647Z,1751053732.647 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:52.647Z,1751053732.647 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:52.647Z,1751053732.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:52.900Z,1751053732.900 [DAT](INFO): DAT read: Rx Time:19:48:51.3534 

2025-06-27T19:48:52.900Z,1751053732.900 [DAT](INFO): Rx dataTimestamp_ set to:1751053732.899821
2025-06-27T19:48:52.901Z,1751053732.901 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:52.902Z,1751053732.902 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:52.903Z,1751053732.903 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:52.903Z,1751053732.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:53.151Z,1751053733.151 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:53.151Z,1751053733.151 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:53.152Z,1751053733.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:53.407Z,1751053733.407 [DAT](INFO): DAT read: Rx Time:19:48:51.8535 

2025-06-27T19:48:53.408Z,1751053733.408 [DAT](INFO): Rx dataTimestamp_ set to:1751053733.407595
2025-06-27T19:48:53.412Z,1751053733.412 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:53.417Z,1751053733.417 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:53.423Z,1751053733.423 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:53.424Z,1751053733.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:53.655Z,1751053733.655 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:53.655Z,1751053733.655 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:53.656Z,1751053733.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:53.908Z,1751053733.908 [DAT](INFO): DAT read: Rx Time:19:48:52.3534 

2025-06-27T19:48:53.908Z,1751053733.908 [DAT](INFO): Rx dataTimestamp_ set to:1751053733.907740
2025-06-27T19:48:53.909Z,1751053733.909 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:53.910Z,1751053733.910 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:53.911Z,1751053733.911 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:53.911Z,1751053733.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:54.159Z,1751053734.159 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:54.159Z,1751053734.159 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:54.160Z,1751053734.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:54.412Z,1751053734.412 [DAT](INFO): DAT read: Rx Time:19:48:52.8534 

2025-06-27T19:48:54.412Z,1751053734.412 [DAT](INFO): Rx dataTimestamp_ set to:1751053734.411710
2025-06-27T19:48:54.415Z,1751053734.415 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:54.417Z,1751053734.417 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:54.420Z,1751053734.420 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:54.421Z,1751053734.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:54.663Z,1751053734.663 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:54.663Z,1751053734.663 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:54.663Z,1751053734.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:54.930Z,1751053734.930 [DAT](INFO): DAT read: Rx Time:19:48:53.3533 

2025-06-27T19:48:54.931Z,1751053734.931 [DAT](INFO): Rx dataTimestamp_ set to:1751053734.930235
2025-06-27T19:48:54.933Z,1751053734.933 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:54.934Z,1751053734.934 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:54.935Z,1751053734.935 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:54.936Z,1751053734.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:55.179Z,1751053735.179 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:55.179Z,1751053735.179 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:55.179Z,1751053735.179 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:55.434Z,1751053735.434 [DAT](INFO): DAT read: Rx Time:19:48:53.8534 

2025-06-27T19:48:55.436Z,1751053735.436 [DAT](INFO): Rx dataTimestamp_ set to:1751053735.435234
2025-06-27T19:48:55.447Z,1751053735.447 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:55.449Z,1751053735.449 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:55.452Z,1751053735.452 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:55.452Z,1751053735.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:55.683Z,1751053735.683 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:55.683Z,1751053735.683 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:55.683Z,1751053735.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:55.936Z,1751053735.936 [DAT](INFO): DAT read: Rx Time:19:48:54.3533 

2025-06-27T19:48:55.936Z,1751053735.936 [DAT](INFO): Rx dataTimestamp_ set to:1751053735.935696
2025-06-27T19:48:55.937Z,1751053735.937 [DAT](INFO): DAT read: Range 10 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-06-27T19:48:55.938Z,1751053735.938 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:55.939Z,1751053735.939 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:55.939Z,1751053735.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:56.187Z,1751053736.187 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:56.187Z,1751053736.187 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:56.188Z,1751053736.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:56.440Z,1751053736.440 [DAT](INFO): DAT read: Rx Time:19:48:54.8535 

2025-06-27T19:48:56.440Z,1751053736.440 [DAT](INFO): Rx dataTimestamp_ set to:1751053736.439726
2025-06-27T19:48:56.441Z,1751053736.441 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:56.442Z,1751053736.442 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:56.444Z,1751053736.444 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:56.445Z,1751053736.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:56.691Z,1751053736.691 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:56.691Z,1751053736.691 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:56.691Z,1751053736.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:56.944Z,1751053736.944 [DAT](INFO): DAT read: Rx Time:19:48:55.3535 

2025-06-27T19:48:56.945Z,1751053736.945 [DAT](INFO): Rx dataTimestamp_ set to:1751053736.944392
2025-06-27T19:48:56.947Z,1751053736.947 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:56.947Z,1751053736.947 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:56.948Z,1751053736.948 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:56.949Z,1751053736.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:57.196Z,1751053737.196 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:57.197Z,1751053737.197 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:57.197Z,1751053737.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:57.450Z,1751053737.450 [DAT](INFO): DAT read: Rx Time:19:48:55.8536 

2025-06-27T19:48:57.452Z,1751053737.452 [DAT](INFO): Rx dataTimestamp_ set to:1751053737.450782
2025-06-27T19:48:57.456Z,1751053737.456 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-06-27T19:48:57.458Z,1751053737.458 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:57.464Z,1751053737.464 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:57.465Z,1751053737.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:57.699Z,1751053737.699 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:57.699Z,1751053737.699 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:57.699Z,1751053737.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:57.952Z,1751053737.952 [DAT](INFO): DAT read: Rx Time:19:48:56.3535 

2025-06-27T19:48:57.952Z,1751053737.952 [DAT](INFO): Rx dataTimestamp_ set to:1751053737.951775
2025-06-27T19:48:57.953Z,1751053737.953 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:57.954Z,1751053737.954 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:57.955Z,1751053737.955 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:57.955Z,1751053737.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:58.204Z,1751053738.204 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:58.204Z,1751053738.204 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:58.205Z,1751053738.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:58.459Z,1751053738.459 [DAT](INFO): DAT read: Rx Time:19:48:56.8535 

2025-06-27T19:48:58.460Z,1751053738.460 [DAT](INFO): Rx dataTimestamp_ set to:1751053738.459580
2025-06-27T19:48:58.461Z,1751053738.461 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:58.462Z,1751053738.462 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:58.463Z,1751053738.463 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:58.463Z,1751053738.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:58.707Z,1751053738.707 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:58.707Z,1751053738.707 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:58.708Z,1751053738.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:58.960Z,1751053738.960 [DAT](INFO): DAT read: Rx Time:19:48:57.3534 

2025-06-27T19:48:58.960Z,1751053738.960 [DAT](INFO): Rx dataTimestamp_ set to:1751053738.959794
2025-06-27T19:48:58.961Z,1751053738.961 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-06-27T19:48:58.962Z,1751053738.962 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:58.963Z,1751053738.963 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:58.963Z,1751053738.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:59.211Z,1751053739.211 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:59.211Z,1751053739.211 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:59.211Z,1751053739.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:59.464Z,1751053739.464 [DAT](INFO): DAT read: Rx Time:19:48:57.8535 

2025-06-27T19:48:59.464Z,1751053739.464 [DAT](INFO): Rx dataTimestamp_ set to:1751053739.463827
2025-06-27T19:48:59.465Z,1751053739.465 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-06-27T19:48:59.466Z,1751053739.466 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:48:59.467Z,1751053739.467 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:59.467Z,1751053739.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:59.715Z,1751053739.715 [DAT](INFO): Reached modem response timeout
2025-06-27T19:48:59.715Z,1751053739.715 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:48:59.715Z,1751053739.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:48:59.970Z,1751053739.970 [DAT](INFO): DAT read: user:2773>

2025-06-27T19:48:59.971Z,1751053739.971 [DAT](INFO): DAT read: Command 'tr50' not found

2025-06-27T19:48:59.971Z,1751053739.971 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found

2025-06-27T19:48:59.972Z,1751053739.972 [DAT](INFO): DAT read: Error

2025-06-27T19:48:59.972Z,1751053739.972 [DAT](INFO): unknown deviceResponse_: Error

2025-06-27T19:48:59.972Z,1751053739.972 [DAT](INFO): DAT read: user:2774>

2025-06-27T19:48:59.973Z,1751053739.973 [DAT](INFO): DAT read: Tx time:19:48:58.7728

2025-06-27T19:48:59.973Z,1751053739.973 [DAT](INFO): Ping request sent.
2025-06-27T19:48:59.974Z,1751053739.974 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:48:59.974Z,1751053739.974 [DAT](INFO): publishing transmit ping time
2025-06-27T19:48:59.975Z,1751053739.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000995
2025-06-27T19:49:00.221Z,1751053740.221 [DAT](INFO): DAT read: TxSync time:19:48:58.7720

2025-06-27T19:49:00.221Z,1751053740.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247779
2025-06-27T19:49:00.471Z,1751053740.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497664
2025-06-27T19:49:00.723Z,1751053740.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749796
2025-06-27T19:49:00.976Z,1751053740.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002366
2025-06-27T19:49:01.227Z,1751053741.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253655
2025-06-27T19:49:01.479Z,1751053741.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505724
2025-06-27T19:49:01.731Z,1751053741.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757730
2025-06-27T19:49:01.983Z,1751053741.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009660
2025-06-27T19:49:02.236Z,1751053742.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262844
2025-06-27T19:49:02.487Z,1751053742.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513682
2025-06-27T19:49:02.739Z,1751053742.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765821
2025-06-27T19:49:02.992Z,1751053742.992 [DAT](INFO): DAT read: Rx Time:19:49:01.1791

2025-06-27T19:49:02.993Z,1751053742.993 [DAT](INFO): Rx dataTimestamp_ set to:1751053742.992278
2025-06-27T19:49:02.993Z,1751053742.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019768
2025-06-27T19:49:03.243Z,1751053743.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269772
2025-06-27T19:49:03.504Z,1751053743.504 [DAT](INFO): DAT read: 19:49:01.1791 LVL= 25536, 31201, 26546, 32755, AGC= 48, IDX= 224, 0.24, 0.470, 2.378, 1.223, 2.172, PHS=-1.613, 0.253,-0.951, RAW= 309.5,  26.5, CAL= 315.0,  29.9, ROT= 195.0, -29.9

2025-06-27T19:49:03.506Z,1751053743.506 [DAT](INFO): got valid direction response:
 19:49:01.1791 LVL= 25536, 31201, 26546, 32755, AGC= 48, IDX= 224, 0.24, 0.470, 2.378, 1.223, 2.172, PHS=-1.613, 0.253,-0.951, RAW= 309.5,  26.5, CAL= 315.0,  29.9, ROT= 195.0, -29.9

2025-06-27T19:49:03.507Z,1751053743.507 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-06-27T19:49:03.508Z,1751053743.508 [DAT](INFO): DAT read: user:2775>

2025-06-27T19:49:03.509Z,1751053743.509 [DAT](INFO): DAT read: Tx time:19:49:02.2728

2025-06-27T19:49:03.509Z,1751053743.509 [DAT](INFO): Ping request sent.
2025-06-27T19:49:03.509Z,1751053743.509 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:03.510Z,1751053743.510 [DAT](INFO): DAT read: TxSync time:19:49:02.2720

2025-06-27T19:49:03.536Z,1751053743.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-06-27T19:49:03.544Z,1751053743.544 [DAT](INFO): direction in FSK: [-0.837358,-0.224369,0.498488]
2025-06-27T19:49:03.545Z,1751053743.545 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:03.546Z,1751053743.546 [DAT](INFO): publishing direction and range info
2025-06-27T19:49:03.600Z,1751053743.600 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:03.601Z,1751053743.601 [DAT](INFO): publishing direction and range info
2025-06-27T19:49:06.268Z,1751053746.268 [DAT](INFO): DAT read: Rx Time:19:49:04.6792

2025-06-27T19:49:06.268Z,1751053746.268 [DAT](INFO): Rx dataTimestamp_ set to:1751053746.267846
2025-06-27T19:49:06.772Z,1751053746.772 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:06.773Z,1751053746.773 [DAT](INFO): DAT read: user:2776>

2025-06-27T19:49:06.774Z,1751053746.774 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-06-27T19:49:07.024Z,1751053747.024 [DAT](INFO): DAT read: Tx time:19:49:05.7729

2025-06-27T19:49:07.025Z,1751053747.025 [DAT](INFO): Ping request sent.
2025-06-27T19:49:07.025Z,1751053747.025 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:07.025Z,1751053747.025 [DAT](INFO): DAT read: TxSync time:19:49:05.7721

2025-06-27T19:49:07.026Z,1751053747.026 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:09.801Z,1751053749.801 [DAT](INFO): DAT read: Rx Time:19:49:08.1794

2025-06-27T19:49:09.802Z,1751053749.802 [DAT](INFO): Rx dataTimestamp_ set to:1751053749.801634
2025-06-27T19:49:10.309Z,1751053750.309 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:49:10.310Z,1751053750.310 [DAT](INFO): DAT read: user:2777>

2025-06-27T19:49:10.311Z,1751053750.311 [DAT](INFO): DAT read: Tx time:19:49:09.2729

2025-06-27T19:49:10.312Z,1751053750.312 [DAT](INFO): Ping request sent.
2025-06-27T19:49:10.312Z,1751053750.312 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:10.312Z,1751053750.312 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-06-27T19:49:10.313Z,1751053750.313 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:10.313Z,1751053750.313 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:10.559Z,1751053750.559 [DAT](INFO): DAT read: TxSync time:19:49:09.2721

2025-06-27T19:49:13.339Z,1751053753.339 [DAT](INFO): DAT read: Rx Time:19:49:11.6793

2025-06-27T19:49:13.340Z,1751053753.340 [DAT](INFO): Rx dataTimestamp_ set to:1751053753.339578
2025-06-27T19:49:13.844Z,1751053753.844 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed -0.1 m/s

2025-06-27T19:49:13.845Z,1751053753.845 [DAT](INFO): DAT read: user:2778>

2025-06-27T19:49:13.846Z,1751053753.846 [DAT](INFO): DAT read: Tx time:19:49:12.7729

2025-06-27T19:49:13.846Z,1751053753.846 [DAT](INFO): Ping request sent.
2025-06-27T19:49:13.846Z,1751053753.846 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:13.847Z,1751053753.847 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-06-27T19:49:13.847Z,1751053753.847 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:13.847Z,1751053753.847 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:14.097Z,1751053754.097 [DAT](INFO): DAT read: TxSync time:19:49:12.7721

2025-06-27T19:49:16.872Z,1751053756.872 [DAT](INFO): DAT read: Rx Time:19:49:15.1795

2025-06-27T19:49:16.872Z,1751053756.872 [DAT](INFO): Rx dataTimestamp_ set to:1751053756.872179
2025-06-27T19:49:17.377Z,1751053757.377 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:49:17.378Z,1751053757.378 [DAT](INFO): DAT read: user:2779>

2025-06-27T19:49:17.379Z,1751053757.379 [DAT](INFO): DAT read: Tx time:19:49:16.2730

2025-06-27T19:49:17.379Z,1751053757.379 [DAT](INFO): Ping request sent.
2025-06-27T19:49:17.379Z,1751053757.379 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:17.379Z,1751053757.379 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-06-27T19:49:17.380Z,1751053757.380 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:17.380Z,1751053757.380 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:17.628Z,1751053757.628 [DAT](INFO): DAT read: TxSync time:19:49:16.2722

2025-06-27T19:49:20.399Z,1751053760.399 [DAT](INFO): DAT read: Rx Time:19:49:18.6793

2025-06-27T19:49:20.400Z,1751053760.400 [DAT](INFO): Rx dataTimestamp_ set to:1751053760.399635
2025-06-27T19:49:20.904Z,1751053760.904 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:20.905Z,1751053760.905 [DAT](INFO): DAT read: user:2780>

2025-06-27T19:49:20.906Z,1751053760.906 [DAT](INFO): DAT read: Tx time:19:49:19.7730

2025-06-27T19:49:20.906Z,1751053760.906 [DAT](INFO): Ping request sent.
2025-06-27T19:49:20.906Z,1751053760.906 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:20.907Z,1751053760.907 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-06-27T19:49:20.907Z,1751053760.907 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:20.907Z,1751053760.907 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:21.156Z,1751053761.156 [DAT](INFO): DAT read: TxSync time:19:49:19.7722

2025-06-27T19:49:23.927Z,1751053763.927 [DAT](INFO): DAT read: Rx Time:19:49:22.1793

2025-06-27T19:49:23.928Z,1751053763.928 [DAT](INFO): Rx dataTimestamp_ set to:1751053763.927587
2025-06-27T19:49:24.432Z,1751053764.432 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:24.433Z,1751053764.433 [DAT](INFO): DAT read: user:2781>

2025-06-27T19:49:24.434Z,1751053764.434 [DAT](INFO): DAT read: Tx time:19:49:23.2730

2025-06-27T19:49:24.434Z,1751053764.434 [DAT](INFO): Ping request sent.
2025-06-27T19:49:24.434Z,1751053764.434 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:24.435Z,1751053764.435 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-06-27T19:49:24.435Z,1751053764.435 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:24.436Z,1751053764.436 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:24.683Z,1751053764.683 [DAT](INFO): DAT read: TxSync time:19:49:23.2722

2025-06-27T19:49:27.455Z,1751053767.455 [DAT](INFO): DAT read: Rx Time:19:49:25.6795

2025-06-27T19:49:27.456Z,1751053767.456 [DAT](INFO): Rx dataTimestamp_ set to:1751053767.455637
2025-06-27T19:49:27.964Z,1751053767.964 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:49:27.965Z,1751053767.965 [DAT](INFO): DAT read: user:2782>

2025-06-27T19:49:27.966Z,1751053767.966 [DAT](INFO): DAT read: Tx time:19:49:26.7731

2025-06-27T19:49:27.967Z,1751053767.967 [DAT](INFO): Ping request sent.
2025-06-27T19:49:27.967Z,1751053767.967 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:27.967Z,1751053767.967 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-06-27T19:49:27.967Z,1751053767.967 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:27.968Z,1751053767.968 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:28.213Z,1751053768.213 [DAT](INFO): DAT read: TxSync time:19:49:26.7723

2025-06-27T19:49:30.995Z,1751053770.995 [DAT](INFO): DAT read: Rx Time:19:49:29.1795

2025-06-27T19:49:30.997Z,1751053770.997 [DAT](INFO): Rx dataTimestamp_ set to:1751053770.995645
2025-06-27T19:49:31.496Z,1751053771.496 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:49:31.497Z,1751053771.497 [DAT](INFO): DAT read: user:2783>

2025-06-27T19:49:31.500Z,1751053771.500 [DAT](INFO): DAT read: Tx time:19:49:30.2731

2025-06-27T19:49:31.501Z,1751053771.501 [DAT](INFO): Ping request sent.
2025-06-27T19:49:31.501Z,1751053771.501 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:31.502Z,1751053771.502 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-06-27T19:49:31.503Z,1751053771.503 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:31.503Z,1751053771.503 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:31.747Z,1751053771.747 [DAT](INFO): DAT read: TxSync time:19:49:30.2723

2025-06-27T19:49:34.267Z,1751053774.267 [DAT](INFO): DAT read: Rx Time:19:49:32.6794

2025-06-27T19:49:34.268Z,1751053774.268 [DAT](INFO): Rx dataTimestamp_ set to:1751053774.267626
2025-06-27T19:49:34.773Z,1751053774.773 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:34.773Z,1751053774.773 [DAT](INFO): DAT read: user:2784>

2025-06-27T19:49:34.774Z,1751053774.774 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-06-27T19:49:35.027Z,1751053775.027 [DAT](INFO): DAT read: Tx time:19:49:33.7731

2025-06-27T19:49:35.028Z,1751053775.028 [DAT](INFO): Ping request sent.
2025-06-27T19:49:35.028Z,1751053775.028 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:35.031Z,1751053775.031 [DAT](INFO): DAT read: TxSync time:19:49:33.7723

2025-06-27T19:49:35.032Z,1751053775.032 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:37.797Z,1751053777.797 [DAT](INFO): DAT read: Rx Time:19:49:36.1796

2025-06-27T19:49:37.797Z,1751053777.797 [DAT](INFO): Rx dataTimestamp_ set to:1751053777.796714
2025-06-27T19:49:38.304Z,1751053778.304 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:49:38.304Z,1751053778.304 [DAT](INFO): DAT read: user:2785>

2025-06-27T19:49:38.305Z,1751053778.305 [DAT](INFO): DAT read: Tx time:19:49:37.2731

2025-06-27T19:49:38.305Z,1751053778.305 [DAT](INFO): Ping request sent.
2025-06-27T19:49:38.306Z,1751053778.306 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:38.306Z,1751053778.306 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-06-27T19:49:38.306Z,1751053778.306 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:38.307Z,1751053778.307 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:38.552Z,1751053778.552 [DAT](INFO): DAT read: TxSync time:19:49:37.2723

2025-06-27T19:49:41.323Z,1751053781.323 [DAT](INFO): DAT read: Rx Time:19:49:39.6794

2025-06-27T19:49:41.324Z,1751053781.324 [DAT](INFO): Rx dataTimestamp_ set to:1751053781.323653
2025-06-27T19:49:41.828Z,1751053781.828 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:41.829Z,1751053781.829 [DAT](INFO): DAT read: user:2786>

2025-06-27T19:49:41.830Z,1751053781.830 [DAT](INFO): DAT read: Tx time:19:49:40.7732

2025-06-27T19:49:41.830Z,1751053781.830 [DAT](INFO): Ping request sent.
2025-06-27T19:49:41.831Z,1751053781.831 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:41.831Z,1751053781.831 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-06-27T19:49:41.831Z,1751053781.831 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:41.832Z,1751053781.832 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:42.079Z,1751053782.079 [DAT](INFO): DAT read: TxSync time:19:49:40.7724

2025-06-27T19:49:44.851Z,1751053784.851 [DAT](INFO): DAT read: Rx Time:19:49:43.1796

2025-06-27T19:49:44.852Z,1751053784.852 [DAT](INFO): Rx dataTimestamp_ set to:1751053784.851623
2025-06-27T19:49:45.361Z,1751053785.361 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:49:45.362Z,1751053785.362 [DAT](INFO): DAT read: user:2787>

2025-06-27T19:49:45.362Z,1751053785.362 [DAT](INFO): DAT read: Tx time:19:49:44.2732

2025-06-27T19:49:45.363Z,1751053785.363 [DAT](INFO): Ping request sent.
2025-06-27T19:49:45.363Z,1751053785.363 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:45.363Z,1751053785.363 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-06-27T19:49:45.363Z,1751053785.363 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:45.364Z,1751053785.364 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:45.607Z,1751053785.607 [DAT](INFO): DAT read: TxSync time:19:49:44.2724

2025-06-27T19:49:48.383Z,1751053788.383 [DAT](INFO): DAT read: Rx Time:19:49:46.6797

2025-06-27T19:49:48.384Z,1751053788.384 [DAT](INFO): Rx dataTimestamp_ set to:1751053788.383552
2025-06-27T19:49:48.888Z,1751053788.888 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed -0.1 m/s

2025-06-27T19:49:48.889Z,1751053788.889 [DAT](INFO): DAT read: user:2788>

2025-06-27T19:49:48.890Z,1751053788.890 [DAT](INFO): DAT read: Tx time:19:49:47.7732

2025-06-27T19:49:48.890Z,1751053788.890 [DAT](INFO): Ping request sent.
2025-06-27T19:49:48.890Z,1751053788.890 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:48.891Z,1751053788.891 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-06-27T19:49:48.891Z,1751053788.891 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:48.892Z,1751053788.892 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:49.140Z,1751053789.140 [DAT](INFO): DAT read: TxSync time:19:49:47.7724

2025-06-27T19:49:51.912Z,1751053791.912 [DAT](INFO): DAT read: Rx Time:19:49:50.1796

2025-06-27T19:49:51.912Z,1751053791.912 [DAT](INFO): Rx dataTimestamp_ set to:1751053791.911700
2025-06-27T19:49:52.416Z,1751053792.416 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:49:52.417Z,1751053792.417 [DAT](INFO): DAT read: user:2789>

2025-06-27T19:49:52.418Z,1751053792.418 [DAT](INFO): DAT read: Tx time:19:49:51.2732

2025-06-27T19:49:52.418Z,1751053792.418 [DAT](INFO): Ping request sent.
2025-06-27T19:49:52.418Z,1751053792.418 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:52.419Z,1751053792.419 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-06-27T19:49:52.419Z,1751053792.419 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:52.419Z,1751053792.419 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:52.668Z,1751053792.668 [DAT](INFO): DAT read: TxSync time:19:49:51.2725

2025-06-27T19:49:54.665Z,1751053794.665 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS04,  77.02
2025-06-27T19:49:55.440Z,1751053795.440 [DAT](INFO): DAT read: Rx Time:19:49:53.6797

2025-06-27T19:49:55.441Z,1751053795.441 [DAT](INFO): Rx dataTimestamp_ set to:1751053795.440513
2025-06-27T19:49:55.945Z,1751053795.945 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:49:55.946Z,1751053795.946 [DAT](INFO): DAT read: user:2790>

2025-06-27T19:49:55.947Z,1751053795.947 [DAT](INFO): DAT read: Tx time:19:49:54.7733

2025-06-27T19:49:55.947Z,1751053795.947 [DAT](INFO): Ping request sent.
2025-06-27T19:49:55.947Z,1751053795.947 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:55.948Z,1751053795.948 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-06-27T19:49:55.948Z,1751053795.948 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:55.948Z,1751053795.948 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:56.195Z,1751053796.195 [DAT](INFO): DAT read: TxSync time:19:49:54.7725

2025-06-27T19:49:58.967Z,1751053798.967 [DAT](INFO): DAT read: Rx Time:19:49:57.1796

2025-06-27T19:49:58.968Z,1751053798.968 [DAT](INFO): Rx dataTimestamp_ set to:1751053798.967606
2025-06-27T19:49:59.472Z,1751053799.472 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-06-27T19:49:59.473Z,1751053799.473 [DAT](INFO): DAT read: user:2791>

2025-06-27T19:49:59.474Z,1751053799.474 [DAT](INFO): DAT read: Tx time:19:49:58.2733

2025-06-27T19:49:59.474Z,1751053799.474 [DAT](INFO): Ping request sent.
2025-06-27T19:49:59.474Z,1751053799.474 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:49:59.475Z,1751053799.475 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-06-27T19:49:59.475Z,1751053799.475 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:59.475Z,1751053799.475 [DAT](INFO): publishing transmit ping time
2025-06-27T19:49:59.723Z,1751053799.723 [DAT](INFO): DAT read: TxSync time:19:49:58.2725

2025-06-27T19:50:02.502Z,1751053802.502 [DAT](INFO): DAT read: Rx Time:19:50:00.6797

2025-06-27T19:50:02.503Z,1751053802.503 [DAT](INFO): Rx dataTimestamp_ set to:1751053802.502592
2025-06-27T19:50:03.009Z,1751053803.009 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-06-27T19:50:03.010Z,1751053803.010 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-06-27T19:50:52.046Z,1751053852.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-06-27T19:50:52.224Z,1751053852.224 [DAT](DEBUG): Acoustic response timeout
2025-06-27T19:50:52.224Z,1751053852.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-06-27T19:50:52.471Z,1751053852.471 [DAT](INFO): DAT read: user:2792>

2025-06-27T19:50:52.472Z,1751053852.472 [DAT](INFO): DAT read: Tx time:19:50:51.2739

2025-06-27T19:50:52.472Z,1751053852.472 [DAT](INFO): Ping request sent.
2025-06-27T19:50:52.472Z,1751053852.472 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:50:52.473Z,1751053852.473 [DAT](INFO): publishing transmit ping time
2025-06-27T19:50:52.473Z,1751053852.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-06-27T19:50:52.724Z,1751053852.724 [DAT](INFO): DAT read: TxSync time:19:50:51.2731

2025-06-27T19:50:52.725Z,1751053852.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252588
2025-06-27T19:50:52.975Z,1751053852.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502851
2025-06-27T19:50:53.227Z,1751053853.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737
2025-06-27T19:50:53.479Z,1751053853.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006882
2025-06-27T19:50:53.738Z,1751053853.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265941
2025-06-27T19:50:53.992Z,1751053853.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519210
2025-06-27T19:50:54.247Z,1751053854.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773784
2025-06-27T19:50:54.496Z,1751053854.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023767
2025-06-27T19:50:54.747Z,1751053854.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274862
2025-06-27T19:50:55.000Z,1751053855.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527979
2025-06-27T19:50:55.255Z,1751053855.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782467
2025-06-27T19:50:55.503Z,1751053855.503 [DAT](INFO): DAT read: Rx Time:19:50:53.6805

2025-06-27T19:50:55.504Z,1751053855.504 [DAT](INFO): Rx dataTimestamp_ set to:1751053855.503590
2025-06-27T19:50:55.504Z,1751053855.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031966
2025-06-27T19:50:55.755Z,1751053855.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282836
2025-06-27T19:50:56.013Z,1751053856.013 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-06-27T19:50:56.014Z,1751053856.014 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-06-27T19:51:54.314Z,1751053914.314 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-06-27T19:46:54.1Z
2025-06-27T19:51:54.314Z,1751053914.314 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-06-27T19:51:54.315Z,1751053914.315 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-06-27T19:51:54.315Z,1751053914.315 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-27T19:51:54.315Z,1751053914.315 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-06-27T19:51:54.681Z,1751053914.681 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-06-27T19:51:54.699Z,1751053914.699 [DockingStepper](INFO): Pause
2025-06-27T19:51:55.061Z,1751053915.061 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-06-27T19:51:55.062Z,1751053915.062 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-06-27T19:51:55.063Z,1751053915.063 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-06-27T19:51:55.063Z,1751053915.063 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-06-27T19:51:55.063Z,1751053915.063 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-06-27T19:51:55.494Z,1751053915.494 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-06-27T19:51:55.494Z,1751053915.494 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-06-27T19:51:55.494Z,1751053915.494 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-06-27T19:51:55.494Z,1751053915.494 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-06-27T19:51:55.494Z,1751053915.494 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-06-27T19:51:55.495Z,1751053915.495 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-06-27T19:51:55.496Z,1751053915.496 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-06-27T19:51:55.496Z,1751053915.496 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-06-27T19:51:55.496Z,1751053915.496 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked] Stopped
2025-06-27T19:51:55.888Z,1751053915.888 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-06-27T19:51:55.889Z,1751053915.889 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-06-27T19:51:55.889Z,1751053915.889 [lineCaptureHoming:Lap] Stopped
2025-06-27T19:51:55.889Z,1751053915.889 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-06-27T19:51:55.894Z,1751053915.894 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-06-27T19:51:55.894Z,1751053915.894 [MissionManager](INFO): lineCaptureHoming is completed.
2025-06-27T19:51:55.894Z,1751053915.894 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-06-27T19:51:55.894Z,1751053915.894 [lineCaptureHoming] Stopped
2025-06-27T19:51:55.894Z,1751053915.894 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-06-27T19:51:55.894Z,1751053915.894 [lineCaptureHoming:Science] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:B] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:C] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:E] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:F] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-06-27T19:51:55.895Z,1751053915.895 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:MicromodemComms] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:TrackAC.] Stopped
2025-06-27T19:51:55.896Z,1751053915.896 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-06-27T19:51:55.973Z,1751053915.973 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-06-27T19:51:55.983Z,1751053915.983 [WetLabsBB2FL](INFO): Powering down
2025-06-27T19:51:56.307Z,1751053916.307 [DAT](INFO): DAT read: user:2793>

2025-06-27T19:51:56.308Z,1751053916.308 [DAT](INFO): DAT read: Tx time:19:51:55.0737

2025-06-27T19:51:56.308Z,1751053916.308 [DAT](INFO): Ping request sent.
2025-06-27T19:51:56.308Z,1751053916.308 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:51:56.309Z,1751053916.309 [DAT](INFO): publishing transmit ping time
2025-06-27T19:51:56.325Z,1751053916.325 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-06-27T19:51:56.325Z,1751053916.325 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-06-27T19:51:56.333Z,1751053916.333 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-06-27T19:51:58.575Z,1751053918.575 [DAT](INFO): DAT read: Rx Time:19:51:56.9575

2025-06-27T19:51:58.576Z,1751053918.576 [DAT](INFO): Rx dataTimestamp_ set to:1751053918.575644
2025-06-27T19:51:59.079Z,1751053919.079 [DAT](INFO): DAT read: OK

2025-06-27T19:51:59.080Z,1751053919.080 [DAT](INFO): unknown deviceResponse_: OK

2025-06-27T19:51:59.080Z,1751053919.080 [DAT](INFO): DAT read: user:2794>

2025-06-27T19:51:59.332Z,1751053919.332 [DAT](INFO): DAT read: Tx time:19:51:58.0737

2025-06-27T19:51:59.332Z,1751053919.332 [DAT](INFO): Ping request sent.
2025-06-27T19:51:59.332Z,1751053919.332 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:51:59.332Z,1751053919.332 [DAT](INFO): publishing transmit ping time
2025-06-27T19:52:01.096Z,1751053921.096 [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>

2025-06-27T19:52:01.101Z,1751053921.101 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-06-27T19:52:01.104Z,1751053921.104 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-06-27T19:52:01.107Z,1751053921.107 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-06-27T19:52:01.109Z,1751053921.109 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-06-27T19:52:01.111Z,1751053921.111 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-06-27T19:52:01.114Z,1751053921.114 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-06-27T19:52:01.117Z,1751053921.117 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-06-27T19:52:01.119Z,1751053921.119 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-06-27T19:52:01.121Z,1751053921.121 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-06-27T19:52:01.164Z,1751053921.164 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-06-27T19:52:01.166Z,1751053921.166 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-06-27T19:52:01.185Z,1751053921.185 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-06-27T19:52:01.209Z,1751053921.209 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-06-27T19:52:01.215Z,1751053921.215 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-06-27T19:52:01.215Z,1751053921.215 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-06-27T19:52:01.227Z,1751053921.227 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-06-27T19:52:01.416Z,1751053921.416 [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>

2025-06-27T19:52:01.434Z,1751053921.434 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-06-27T19:52:01.440Z,1751053921.440 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-06-27T19:52:01.444Z,1751053921.444 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-06-27T19:52:01.451Z,1751053921.451 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-06-27T19:52:01.452Z,1751053921.452 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-06-27T19:52:01.470Z,1751053921.470 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-06-27T19:52:01.485Z,1751053921.485 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-06-27T19:52:01.515Z,1751053921.515 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-06-27T19:52:01.515Z,1751053921.515 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-06-27T19:52:01.516Z,1751053921.516 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-06-27T19:52:01.541Z,1751053921.541 [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>

2025-06-27T19:52:01.544Z,1751053921.544 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-06-27T19:52:01.547Z,1751053921.547 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-06-27T19:52:01.549Z,1751053921.549 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-06-27T19:52:01.549Z,1751053921.549 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-06-27T19:52:01.551Z,1751053921.551 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-06-27T19:52:01.599Z,1751053921.599 [DAT](INFO): DAT read: Rx Time:19:51:59.9575

2025-06-27T19:52:01.600Z,1751053921.600 [DAT](INFO): Rx dataTimestamp_ set to:1751053921.599640
2025-06-27T19:52:01.691Z,1751053921.691 [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>

2025-06-27T19:52:01.695Z,1751053921.695 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-06-27T19:52:01.697Z,1751053921.697 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-06-27T19:52:01.699Z,1751053921.699 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-06-27T19:52:01.701Z,1751053921.701 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-06-27T19:52:01.704Z,1751053921.704 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-06-27T19:52:01.711Z,1751053921.711 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-06-27T19:52:01.714Z,1751053921.714 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-06-27T19:52:01.780Z,1751053921.780 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-06-27T19:52:01.781Z,1751053921.781 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-06-27T19:52:01.794Z,1751053921.794 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-06-27T19:52:02.104Z,1751053922.104 [DAT](INFO): DAT read: OK

2025-06-27T19:52:02.105Z,1751053922.105 [DAT](INFO): unknown deviceResponse_: OK

2025-06-27T19:52:02.106Z,1751053922.106 [DAT](INFO): DAT read: user:2795>

2025-06-27T19:52:02.355Z,1751053922.355 [DAT](INFO): DAT read: Tx time:19:52:01.0737

2025-06-27T19:52:02.356Z,1751053922.356 [DAT](INFO): Ping request sent.
2025-06-27T19:52:02.356Z,1751053922.356 [DAT](INFO): transmitted an acoustic signal
2025-06-27T19:52:02.356Z,1751053922.356 [DAT](INFO): publishing transmit ping time
2025-06-27T19:52:04.623Z,1751053924.623 [DAT](INFO): DAT read: Rx Time:19:52:02.9577

2025-06-27T19:52:04.624Z,1751053924.624 [DAT](INFO): Rx dataTimestamp_ set to:1751053924.623668
2025-06-27T19:52:05.127Z,1751053925.127 [DAT](INFO): DAT read: OK

2025-06-27T19:52:05.127Z,1751053925.127 [DAT](INFO): unknown deviceResponse_: OK

2025-06-27T19:52:06.127Z,1751053926.127 [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>

2025-06-27T19:52:06.168Z,1751053926.168 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-06-27T19:52:06.170Z,1751053926.170 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-06-27T19:52:06.172Z,1751053926.172 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-06-27T19:52:06.191Z,1751053926.191 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-06-27T19:52:06.193Z,1751053926.193 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-06-27T19:52:06.195Z,1751053926.195 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-06-27T19:52:06.196Z,1751053926.196 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-06-27T19:52:06.227Z,1751053926.227 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-06-27T19:52:06.229Z,1751053926.229 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-06-27T19:52:06.232Z,1751053926.232 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-06-27T19:52:06.246Z,1751053926.246 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-06-27T19:52:06.262Z,1751053926.262 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-06-27T19:52:06.285Z,1751053926.285 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-06-27T19:52:06.307Z,1751053926.307 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-06-27T19:52:06.309Z,1751053926.309 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-27T19:52:06.325Z,1751053926.325 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-06-27T19:52:06.332Z,1751053926.332 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-27T19:52:06.334Z,1751053926.334 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-06-27T19:52:06.341Z,1751053926.341 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-06-27T19:52:06.346Z,1751053926.346 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-06-27T19:52:06.360Z,1751053926.360 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-27T19:52:06.366Z,1751053926.366 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-06-27T19:52:06.368Z,1751053926.368 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-06-27T19:52:06.383Z,1751053926.383 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-06-27T19:52:06.386Z,1751053926.386 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-06-27T19:52:06.393Z,1751053926.393 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-06-27T19:52:06.396Z,1751053926.396 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-06-27T19:52:06.403Z,1751053926.403 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-06-27T19:52:06.406Z,1751053926.406 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-06-27T19:52:06.413Z,1751053926.413 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-06-27T19:52:06.415Z,1751053926.415 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-06-27T19:52:06.417Z,1751053926.417 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-06-27T19:52:06.436Z,1751053926.436 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-06-27T19:52:06.438Z,1751053926.438 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-06-27T19:52:06.440Z,1751053926.440 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-06-27T19:52:06.447Z,1751053926.447 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-06-27T19:52:06.449Z,1751053926.449 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-06-27T19:52:06.451Z,1751053926.451 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-06-27T19:52:06.453Z,1751053926.453 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-06-27T19:52:06.468Z,1751053926.468 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-06-27T19:52:06.470Z,1751053926.470 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-06-27T19:52:06.476Z,1751053926.476 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-06-27T19:52:06.483Z,1751053926.483 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-06-27T19:52:06.485Z,1751053926.485 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-06-27T19:52:06.488Z,1751053926.488 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-06-27T19:52:06.490Z,1751053926.490 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-06-27T19:52:06.520Z,1751053926.520 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-06-27T19:52:06.522Z,1751053926.522 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-06-27T19:52:06.528Z,1751053926.528 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-06-27T19:52:06.535Z,1751053926.535 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-06-27T19:52:06.537Z,1751053926.537 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-06-27T19:52:06.544Z,1751053926.544 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-06-27T19:52:06.555Z,1751053926.555 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-06-27T19:52:06.557Z,1751053926.557 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-06-27T19:52:06.564Z,1751053926.564 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-06-27T19:52:06.566Z,1751053926.566 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-06-27T19:52:06.573Z,1751053926.573 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-06-27T19:52:06.576Z,1751053926.576 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-06-27T19:52:06.578Z,1751053926.578 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-06-27T19:52:06.632Z,1751053926.632 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-06-27T19:52:06.640Z,1751053926.640 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-06-27T19:52:06.654Z,1751053926.654 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-06-27T19:52:06.657Z,1751053926.657 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-06-27T19:52:06.668Z,1751053926.668 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-06-27T19:52:06.677Z,1751053926.677 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-06-27T19:52:06.700Z,1751053926.700 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-06-27T19:52:06.714Z,1751053926.714 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-06-27T19:52:06.721Z,1751053926.721 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-06-27T19:52:06.727Z,1751053926.727 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-06-27T19:52:06.730Z,1751053926.730 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-06-27T19:52:06.736Z,1751053926.736 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-06-27T19:52:06.743Z,1751053926.743 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-06-27T19:52:06.745Z,1751053926.745 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-06-27T19:52:06.756Z,1751053926.756 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-06-27T19:52:06.758Z,1751053926.758 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-06-27T19:52:06.765Z,1751053926.765 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-06-27T19:52:06.783Z,1751053926.783 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-06-27T19:52:06.785Z,1751053926.785 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-06-27T19:52:06.800Z,1751053926.800 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-06-27T19:52:06.802Z,1751053926.802 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-06-27T19:52:06.809Z,1751053926.809 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-06-27T19:52:06.819Z,1751053926.819 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-06-27T19:52:06.822Z,1751053926.822 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-06-27T19:52:06.828Z,1751053926.828 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-06-27T19:52:06.835Z,1751053926.835 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-06-27T19:52:06.837Z,1751053926.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-06-27T19:52:06.848Z,1751053926.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-06-27T19:52:06.855Z,1751053926.855 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-06-27T19:52:06.858Z,1751053926.858 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-06-27T19:52:06.864Z,1751053926.864 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-06-27T19:52:06.873Z,1751053926.873 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-06-27T19:52:06.887Z,1751053926.887 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-06-27T19:52:06.890Z,1751053926.890 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-06-27T19:52:06.900Z,1751053926.900 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-06-27T19:52:06.907Z,1751053926.907 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-06-27T19:52:06.909Z,1751053926.909 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-06-27T19:52:06.924Z,1751053926.924 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-06-27T19:52:06.926Z,1751053926.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-06-27T19:52:06.929Z,1751053926.929 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-06-27T19:52:06.946Z,1751053926.946 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-06-27T19:52:06.949Z,1751053926.949 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-06-27T19:52:06.955Z,1751053926.955 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-06-27T19:52:06.960Z,1751053926.960 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-06-27T19:52:06.962Z,1751053926.962 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-06-27T19:52:06.965Z,1751053926.965 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-06-27T19:52:06.972Z,1751053926.972 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-06-27T19:52:06.978Z,1751053926.978 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-06-27T19:52:06.981Z,1751053926.981 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-06-27T19:52:07.004Z,1751053927.004 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-27T19:52:07.006Z,1751053927.006 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-27T19:52:07.008Z,1751053927.008 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-06-27T19:52:07.027Z,1751053927.027 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-06-27T19:52:07.029Z,1751053927.029 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-06-27T19:52:07.036Z,1751053927.036 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-06-27T19:52:07.047Z,1751053927.047 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-06-27T19:52:07.049Z,1751053927.049 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-06-27T19:52:07.067Z,1751053927.067 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-06-27T19:52:07.070Z,1751053927.070 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-06-27T19:52:07.072Z,1751053927.072 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-06-27T19:52:07.107Z,1751053927.107 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-06-27T19:52:07.109Z,1751053927.109 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-06-27T19:52:07.144Z,1751053927.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-06-27T19:52:07.173Z,1751053927.173 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-06-27T19:52:07.180Z,1751053927.180 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-06-27T19:52:07.192Z,1751053927.192 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-06-27T19:52:07.203Z,1751053927.203 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-06-27T19:52:07.205Z,1751053927.205 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-06-27T19:52:07.218Z,1751053927.218 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-06-27T19:52:07.221Z,1751053927.221 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-06-27T19:52:07.224Z,1751053927.224 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-06-27T19:52:07.226Z,1751053927.226 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-06-27T19:52:07.240Z,1751053927.240 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-06-27T19:52:07.349Z,1751053927.349 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.418Z,1751053927.418 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-27T19:52:07.484Z,1751053927.484 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-27T19:52:07.545Z,1751053927.545 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.582Z,1751053927.582 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.609Z,1751053927.609 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-27T19:52:07.644Z,1751053927.644 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.667Z,1751053927.667 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.684Z,1751053927.684 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-06-27T19:52:07.717Z,1751053927.717 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.763Z,1751053927.763 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-27T19:52:07.856Z,1751053927.856 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.920Z,1751053927.920 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-27T19:52:07.963Z,1751053927.963 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:07.994Z,1751053927.994 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-27T19:52:08.059Z,1751053928.059 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-06-27T19:52:08.086Z,1751053928.086 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-06-27T19:52:08.138Z,1751053928.138 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-06-27T19:52:08.187Z,1751053928.187 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-06-27T19:52:08.190Z,1751053928.190 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-06-27T19:52:08.228Z,1751053928.228 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-06-27T19:52:08.229Z,1751053928.229 [OnDock:N.Docked](DEBUG): Construct.
2025-06-27T19:52:08.229Z,1751053928.229 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-06-27T19:52:08.314Z,1751053928.314 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-06-27T19:52:08.322Z,1751053928.322 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-06-27T19:52:08.456Z,1751053928.456 [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
    }
  }
}


2025-06-27T19:52:08.457Z,1751053928.457 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-06-27T19:52:08.668Z,1751053928.668 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-06-27T19:52:08.668Z,1751053928.668 [DefaultWithUndock] Running Loop=1
2025-06-27T19:52:08.668Z,1751053928.668 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-06-27T19:52:08.668Z,1751053928.668 [DefaultWithUndock:A.Wait] Running Loop=1
2025-06-27T19:52:08.669Z,1751053928.669 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-06-27T19:52:13.260Z,1751053933.260 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 12 hour
2025-06-27T19:52:13.260Z,1751053933.260 [CommandExec](IMPORTANT): got command run
2025-06-27T19:52:13.275Z,1751053933.275 [CommandExec](IMPORTANT): Running 
2025-06-27T19:52:13.523Z,1751053933.523 [DefaultWithUndock] Stopped
2025-06-27T19:52:13.523Z,1751053933.523 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-06-27T19:52:13.523Z,1751053933.523 [DefaultWithUndock:A.Wait] Stopped
2025-06-27T19:52:13.523Z,1751053933.523 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-06-27T19:52:13.523Z,1751053933.523 [MissionManager](IMPORTANT): Started mission OnDock
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock] Running Loop=1
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-27T19:52:13.524Z,1751053933.524 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:BackseatDriver] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly:A] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly:B] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly:C] Running Loop=1
2025-06-27T19:52:13.525Z,1751053933.525 [OnDock:PowerOnly:D] Running Loop=1
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:dataRead] Running Loop=1
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:dataRead:A] Running Loop=1
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:science] Running Loop=1
2025-06-27T19:52:13.526Z,1751053933.526 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:A] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:B] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:C] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:D] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:E] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:F] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-06-27T19:52:13.527Z,1751053933.527 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-27T19:52:13.528Z,1751053933.528 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-27T19:52:13.529Z,1751053933.529 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-27T19:52:13.530Z,1751053933.530 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-06-27T19:52:13.530Z,1751053933.530 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-06-27T19:52:13.530Z,1751053933.530 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-06-27T19:52:13.550Z,1751053933.550 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-06-27T19:52:13.550Z,1751053933.550 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-06-27T19:52:13.551Z,1751053933.551 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-06-27T19:52:13.552Z,1751053933.552 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-06-27T19:52:13.553Z,1751053933.553 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-27T19:52:13.554Z,1751053933.554 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-06-27T19:52:13.555Z,1751053933.555 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:J.] Running Loop=1
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:PeriodicCheck] Running Loop=1
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-06-27T19:52:13.556Z,1751053933.556 [OnDock:B] Running Loop=1
2025-06-27T19:52:13.557Z,1751053933.557 [OnDock:PeriodicCheck] Running Loop=1
2025-06-27T19:52:13.557Z,1751053933.557 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-06-27T19:52:13.557Z,1751053933.557 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-06-27T19:52:13.557Z,1751053933.557 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-06-27T19:52:13.557Z,1751053933.557 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-06-27T19:52:13.558Z,1751053933.558 [OnDock:J.] Running Loop=1
2025-06-27T19:52:13.562Z,1751053933.562 [OnDock:J.](ERROR): Failed to read sound speed
2025-06-27T19:52:13.562Z,1751053933.562 [OnDock:science] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:A] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:B] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:C] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:D] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:E] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:F] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:Read_Oil] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:OceanCurrent] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:PeakDetectChl] Stopped
2025-06-27T19:52:13.563Z,1751053933.563 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectOil] Stopped
2025-06-27T19:52:13.564Z,1751053933.564 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-06-27T19:52:13.565Z,1751053933.565 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-06-27T19:52:13.566Z,1751053933.566 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-06-27T19:52:13.574Z,1751053933.574 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-06-27T19:52:13.574Z,1751053933.574 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-06-27T19:52:13.575Z,1751053933.575 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-06-27T19:52:13.576Z,1751053933.576 [OnDock:dataRead] Running Loop=1
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:PowerOnly] Running Loop=1
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:PowerOnly:D] Stopped
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:PowerOnly:C] Stopped
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:PowerOnly:B] Stopped
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:PowerOnly:A] Stopped
2025-06-27T19:52:13.577Z,1751053933.577 [OnDock:BackseatDriver] Running Loop=1
2025-06-27T19:52:13.578Z,1751053933.578 [OnDock:B] Stopped
2025-06-27T19:52:13.582Z,1751053933.582 [OnDock:C] Running Loop=1
2025-06-27T19:52:13.582Z,1751053933.582 [OnDock:StandardEnvelopes] Running Loop=1
2025-06-27T19:52:13.582Z,1751053933.582 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-06-27T19:52:13.583Z,1751053933.583 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-06-27T19:52:13.583Z,1751053933.583 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-06-27T19:52:13.592Z,1751053933.592 [CommandExec](IMPORTANT): got command ! ifconfig
2025-06-27T19:52:13.840Z,1751053933.840 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:66988 errors:0 dropped:0 overruns:0 frame:0
            TX packets:95940 errors:0 dropped:0 overruns:0 carrier:0
            collisions:264 txqueuelen:1000 
            RX bytes:26448803 (25.2 Mb)  TX bytes:13664583 (13.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:17955 errors:0 dropped:0 overruns:0 frame:0
            TX packets:17955 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:1630305 (1.5 Mb)  TX bytes:1630305 (1.5 Mb)
  
  
2025-06-27T19:52:14.152Z,1751053934.152 [OnDock:C] Stopped
2025-06-27T19:52:14.152Z,1751053934.152 [OnDock:D] Running Loop=1
2025-06-27T19:52:14.608Z,1751053934.608 [OnDock:D] Stopped
2025-06-27T19:52:14.608Z,1751053934.608 [OnDock:E] Running Loop=1
2025-06-27T19:52:14.938Z,1751053934.938 [OnDock:E] Stopped
2025-06-27T19:52:14.938Z,1751053934.938 [OnDock:K] Running Loop=1
2025-06-27T19:52:15.356Z,1751053935.356 [OnDock:K](IMPORTANT): Restarting logs
2025-06-27T19:52:15.356Z,1751053935.356 [OnDock:K] Stopped
2025-06-27T19:52:15.357Z,1751053935.357 [OnDock:L.Execute] Running Loop=1
2025-06-27T19:52:15.773Z,1751053935.773 [OnDock:L.Execute](INFO): Executing command restart logs
2025-06-27T19:52:15.773Z,1751053935.773 [OnDock:L.Execute] Stopped
2025-06-27T19:52:15.774Z,1751053935.774 [OnDock:N.Docked] Running Loop=1
2025-06-27T19:52:15.774Z,1751053935.774 [OnDock:N.Docked](DEBUG): Initialize.